humotion

    // check if this timestamp allows a valid conversion:

    Timestamp history_begin =

            joint_interface_->get_ts_position(JointInterface::ID_NECK_PAN).get_first_timestamp();

    // printf("> incoming: %f, history is %f to %f\n",relative_target_timestamp.to_seconds(),

    // history_begin.to_seconds(), history_end.to_seconds());

        // therefore we will use the last known targets (see below)

        // in case we did not see this timestamp before, show a warning:

        if (last_known_absolute_timestamp_ != relative_target_timestamp) {

            last_known_absolute_target_pan_ = 0.0;

            last_known_absolute_target_tilt_ = 0.0;

            last_known_absolute_target_roll_ = 0.0;

    // printf("pan  now = %4.1f, rel=%4.1f ===> %4.2f\n", pan, relative.pan, absolute_gaze.pan);

    // printf("tilt now = %4.1f, rel=%4.1f ===> %4.2f\n", tilt, relative.tilt, absolute_gaze.tilt);

    // store debug data:

    // this is the position we had at the ts of the relative target

    // this is the relative movement that was requested

    store_debug_data("controller/pan_target_relative", relative.pan);

    // this is the calculated overall target