humotion

    //

    double roll      = joint_interface->get_ts_position(JointInterface::ID_NECK_ROLL).get_interpolated_value(relative_target_timestamp);

    //build up absolute target:

    absolute_gaze.gaze_type  = GazeState::GAZETYPE_ABSOLUTE;

    absolute_gaze.pan   = pan + relative.pan;

    //ros::Time past = now - ros::Duration(5.0);

    //listener.waitForTransform("/turtle2", now,J "/turtle1", past, "/world", ros::Duration(1.0));

    //listener.lookupTransform("/turtle2", now, "/turtle1", past, "/world", transform);

    return absolute_gaze;

}

void Controller::set_gaze_target(GazeState new_gaze_target){

    if (!activated){

        //not yet initialized, ignore incoming targets

        return;

    }