Revision ea068cf1 src/server/eyebrow_motion_generator.cpp

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src/server/eyebrow_motion_generator.cpp
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//! calculate joint targets
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void EyebrowMotionGenerator::calculate_targets() {
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    // printf("> humotion: calculating eyebrow targets\n");
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    float eyebrow_left_target = requested_gaze_state.eyebrow_left;
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    float eyebrow_right_target = requested_gaze_state.eyebrow_right;
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    float eyebrow_left_target = requested_gaze_state_.eyebrow_left;
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    float eyebrow_right_target = requested_gaze_state_.eyebrow_right;
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    // store targets


  		




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    joint_interface->set_target(JointInterface::ID_EYES_LEFT_BROW, eyebrow_left_target, 0.0);


  		




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    joint_interface->set_target(JointInterface::ID_EYES_RIGHT_BROW, eyebrow_right_target, 0.0);


  		




  
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    joint_interface_->set_target(JointInterface::ID_EYES_LEFT_BROW, eyebrow_left_target, 0.0);


  		




  
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    joint_interface_->set_target(JointInterface::ID_EYES_RIGHT_BROW, eyebrow_right_target, 0.0);


  		




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}


  		




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//! publish targets to motor boards:


  		




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void EyebrowMotionGenerator::publish_targets() {


  		




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    // publish values if there is an active gaze input within the last timerange


  		




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    if (gaze_target_input_active()) {


  		




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        joint_interface->publish_target(JointInterface::ID_EYES_LEFT_BROW);


  		




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        joint_interface->publish_target(JointInterface::ID_EYES_RIGHT_BROW);


  		




  
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        joint_interface_->publish_target(JointInterface::ID_EYES_LEFT_BROW);


  		




  
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        joint_interface_->publish_target(JointInterface::ID_EYES_RIGHT_BROW);


  		




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    }


  		




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}


  		












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