humotion

using humotion::server::Controller;

//! constructor

}

//! destructor

    //       (i.e. the neck generator must be added after the eye generator!)

    // eye motion generation:

    // eyelid motion generator

    // neck motion generator

    // mouth motion generator

    // eyebrow motion generator

}

//! add a single motion genrator

void Controller::add_motion_generator(MotionGenerator *m) {

}

//! calculate target angles for all motion generators:

void Controller::calculate_targets() {

    Controller::motion_generator_vector_t::iterator it;

        (*it)->calculate_targets();

    }

}

//! NOTE: this is done in an extra loop to have a low delay between consequent sets:

void Controller::publish_targets() {

    Controller::motion_generator_vector_t::iterator it;

        (*it)->publish_targets();

    }

}

    // check if this timestamp allows a valid conversion:

    Timestamp history_begin =

    // Timestamp history_end   =

    //       joint_interface->get_ts_position(JointInterface::ID_NECK_PAN).get_last_timestamp();

        // to do any guesswork and try to calculate a valid absolute target

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

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

            printf("> WARNING: restored/guessed absolute target for unknown timestamp %f "

                   "[this should not happen]\n", relative_target_timestamp.to_seconds());

        }

    } else {

        // all fine, we can reconstruct the absolute target

        // fetch head / camera pose during that timestamp

                JointInterface::ID_NECK_PAN).get_interpolated_value(relative_target_timestamp);

                JointInterface::ID_EYES_LEFT_LR).get_interpolated_value(relative_target_timestamp);

                JointInterface::ID_EYES_RIGHT_LR).get_interpolated_value(relative_target_timestamp);

        //

                JointInterface::ID_NECK_TILT).get_interpolated_value(relative_target_timestamp);

                JointInterface::ID_EYES_BOTH_UD).get_interpolated_value(relative_target_timestamp);

        //

                JointInterface::ID_NECK_ROLL).get_interpolated_value(relative_target_timestamp);

        // safe this timestamp as known:

    }

    // substract offsets

    pan  -= relative.pan_offset;

//! activate controller

void Controller::set_activated(void) {

}

//! update gaze target:

//! \param GazeState with target values for the overall gaze

void Controller::set_gaze_target(humotion::GazeState new_gaze_target) {

        // not yet initialized, ignore incoming targets

        return;

    }

    }

    Controller::motion_generator_vector_t::iterator it;

        (*it)->set_gaze_target(target_gaze);

    }

}

//! update mouth state:

//! \param MouthState with target values for the mouth joints

void Controller::set_mouth_target(MouthState s) {

        // not yet initialized, ignore incoming targets

        return;

    }

    Controller::motion_generator_vector_t::iterator it;

        (*it)->set_mouth_target(s);

    }

}