Revision c0b29ddc src/server/controller.cpp

View differences:

src/server/controller.cpp
110 110 
        //in case we did not see this timestamp before, show a warning:
111 111 
        if (last_known_absolute_timestamp != relative_target_timestamp){
112 112 
            printf("> WARNING: restored/guessed absolute target for unknown timestamp %f [this should not happen]\n", relative_target_timestamp.to_seconds());
113 
            last_known_absolute_target_pan = 0.0;
114 
            last_known_absolute_target_tilt = 0.0;
115 
            last_known_absolute_target_roll = 0.0;
113 116 
        }
114 117 
    }else{
115 118 
        //all fine, we can reconstruct the absolute target:
......
143 146 
    absolute_gaze.pan   = pan + relative.pan;
144 147 
    absolute_gaze.tilt  = tilt + relative.tilt;
145 148 
    absolute_gaze.roll  = roll + relative.roll;
146 
    //printf("pan now = %4.1f, rel=%4.1f ===> %4.2f\n",pan,relative.pan,absolute_gaze.pan);
147 
    //printf("tilt now = %4.1f, rel=%4.1f ===> %4.2f\n",tilt,relative.tilt,absolute_gaze.tilt);
149 
    printf("pan  now = %4.1f, rel=%4.1f ===> %4.2f\n",pan,relative.pan,absolute_gaze.pan);
150 
    printf("tilt now = %4.1f, rel=%4.1f ===> %4.2f\n",tilt,relative.tilt,absolute_gaze.tilt);
148 151 

  		




  149
  152
  
    
    //FIXME: use ros TF for that calculation...


  		




  150
  153
  
    
    //see http://wiki.ros.org/tf/Tutorials/Time%20travel%20with%20tf%20%28C%2B%2B%29


  		












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