/src/server/joint_interface.cpp - Diff - humotion - Research for Cognitive Interaction

Revision ea068cf1 src/server/joint_interface.cpp

     //! constructor
     JointInterface::JointInterface() {
         framerate = 50.0;
         mouth_enabled = false;
         gaze_enabled  = false;
         mouth_enabled_ = false;
         gaze_enabled_  = false;
+    }
     //! destructor
-...
         // lock the tsd_list for this access. by doing this we assure
         // that no other thread accessing this element can diturb the
         // following atomic instructions:
         mutex::scoped_lock sl(joint_ts_position_map_access_mutex);
         mutex::scoped_lock sl(joint_ts_position_map_access_mutex_);
         // printf("> humotion: incoming joint position for joint id 0x%02X "
         // "= %4.2f (ts=%.2f)\n",joint_id,position,timestamp.to_seconds());
         joint_ts_position_map[joint_id].insert(timestamp, position);
         joint_ts_position_map_[joint_id].insert(timestamp, position);
         incoming_position_count++;
         incoming_position_count_++;
+    }
     //! return incoming position data count & clear this counter
     //! this can be used as a keep alive status check
     //! \return number of incoming joint positions since the last call
     unsigned int JointInterface::get_and_clear_incoming_position_count() {
         unsigned int i = incoming_position_count;
         incoming_position_count = 0;
         unsigned int i = incoming_position_count_;
         incoming_position_count_ = 0;
         return i;
+    }
-...
         // lock the tsd_list for this access. by doing this we assure
         // that no other thread accessing this element can disturb the
         // following atomic instructions:
         mutex::scoped_lock scoped_lock(joint_ts_speed_map_access_mutex);
         mutex::scoped_lock scoped_lock(joint_ts_speed_map_access_mutex_);
         // printf("> humotion: incoming joint velocity for joint id 0x%02X = %4.2f "
         // "(ts=%.2f)\n",joint_id,velocity,timestamp.to_seconds());
         joint_ts_speed_map[joint_id].insert(timestamp, velocity);
         joint_ts_speed_map_[joint_id].insert(timestamp, velocity);
+    }
     //! return the timestamped float for the given joints position
-...
         // lock the tsd_list for this access. by doing this we assure
         // that no other thread accessing this element can disturb the
         // following atomic instructions
         mutex::scoped_lock sl(joint_ts_position_map_access_mutex);
         mutex::scoped_lock sl(joint_ts_position_map_access_mutex_);
         // search map
         joint_tsl_map_t::iterator it = joint_ts_position_map.find(joint_id);
         joint_tsl_map_t::iterator it = joint_ts_position_map_.find(joint_id);
         if (it == joint_ts_position_map.end()) {
         if (it == joint_ts_position_map_.end()) {
             printf("> humotion: no ts_position for joint id 0x%02X found\n", joint_id);
             return TimestampedList();
+        }
-...
         // lock the tsd_list for this access. by doing this we assure
         // that no other thread accessing this element can diturb the
         // following atomic instructions
         mutex::scoped_lock sl(joint_ts_speed_map_access_mutex);
         mutex::scoped_lock sl(joint_ts_speed_map_access_mutex_);
         // search map
         joint_tsl_map_t::iterator it = joint_ts_speed_map.find(joint_id);
         joint_tsl_map_t::iterator it = joint_ts_speed_map_.find(joint_id);
         if (it == joint_ts_speed_map.end()) {
         if (it == joint_ts_speed_map_.end()) {
             printf("> humotion: no ts_speed for joint id 0x%02X found\n", joint_id);
             return humotion::TimestampedList();
+        }
-...
     //! enable all mouth joints
     void JointInterface::enable_mouth_joints() {
         // already enabled? skip this
         if (mouth_enabled) {
         if (mouth_enabled_) {
             return;
+        }
-...
         enable_joint(ID_LIP_CENTER_LOWER);
         enable_joint(ID_LIP_RIGHT_UPPER);
         enable_joint(ID_LIP_RIGHT_LOWER);
         mouth_enabled = true;
         mouth_enabled_ = true;
+    }
     //! disable all mouth joints
     void JointInterface::disable_mouth_joints() {
         // already disabled? skip this
         if (!mouth_enabled) {
         if (!mouth_enabled_) {
             return;
+        }
-...
         disable_joint(ID_LIP_CENTER_LOWER);
         disable_joint(ID_LIP_RIGHT_UPPER);
         disable_joint(ID_LIP_RIGHT_LOWER);
         mouth_enabled = false;
         mouth_enabled_ = false;
+    }
     //! enable all gaze joints
     void JointInterface::enable_gaze_joints() {
         // already enabled? skip this
         if (gaze_enabled) {
         if (gaze_enabled_) {
             return;
+        }
-...
         enable_joint(ID_NECK_TILT);
         enable_joint(ID_NECK_ROLL);
         gaze_enabled = true;
         gaze_enabled_ = true;
+    }
     //! disable all gaze joints
     void JointInterface::disable_gaze_joints() {
         // already disabled? skip this
         if (!gaze_enabled) {
         if (!gaze_enabled_) {
             return;
+        }
-...
         disable_joint(ID_NECK_TILT);
         disable_joint(ID_NECK_ROLL);
         gaze_enabled = false;
         gaze_enabled_ = false;
+    }
     //! fetch maximum allowed joint position
-...
     //! check if joint position map is empty
     //! \return true if empty
     bool JointInterface::get_joint_position_map_empty() {
         return (joint_ts_position_map.empty());
         return (joint_ts_position_map_.empty());
+    }
     //! call the virtual store function with given position and velocities

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