Revision ea068cf1 src/server/mouth_motion_generator.cpp

View differences:

src/server/mouth_motion_generator.cpp
53 53 
//! \param int lower joint id
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void MouthMotionGenerator::update_mouth_target(int upper_id, int lower_id) {
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    // fetch min/max for joints
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    float min_upper = joint_interface->get_joint_min(upper_id);
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    float max_lower = joint_interface->get_joint_max(lower_id);
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    float min_upper = joint_interface_->get_joint_min(upper_id);
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    float max_lower = joint_interface_->get_joint_max(lower_id);
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    float min_opening = MOUTH_MIN_OPENING;
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    // fetch position & opening for joint, parameter is only used to


  		




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    // determine LEFT/CENTER/RIGHT. upper/lower plays no role here


  		




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    float position = mouthstate_to_position(requested_mouth_target, upper_id);


  		




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    float opening  = min_opening + mouthstate_to_opening(requested_mouth_target, upper_id);


  		




  
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    float position = mouthstate_to_position(requested_mouth_target_, upper_id);


  		




  
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    float opening  = min_opening + mouthstate_to_opening(requested_mouth_target_, upper_id);


  		




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    // check opening larger than minimum


  		




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    if (opening < min_opening) {


  		




  ......




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    }


  		




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    // tell the joint about the new values


  		




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    joint_interface->set_target(upper_id, unsafe_target_upper, 0.0);


  		




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    joint_interface->set_target(lower_id, unsafe_target_lower, 0.0);


  		




  
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    joint_interface_->set_target(upper_id, unsafe_target_upper, 0.0);


  		




  
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    joint_interface_->set_target(lower_id, unsafe_target_lower, 0.0);


  		




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}


  		




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  ......




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void MouthMotionGenerator::publish_targets() {


  		




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


  		




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    if (mouth_target_input_active()) {


  		




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        joint_interface->publish_target(JointInterface::ID_LIP_LEFT_UPPER);


  		




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        joint_interface->publish_target(JointInterface::ID_LIP_LEFT_LOWER);


  		




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        joint_interface->publish_target(JointInterface::ID_LIP_CENTER_UPPER);


  		




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        joint_interface->publish_target(JointInterface::ID_LIP_CENTER_LOWER);


  		




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        joint_interface->publish_target(JointInterface::ID_LIP_RIGHT_UPPER);


  		




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        joint_interface->publish_target(JointInterface::ID_LIP_RIGHT_LOWER);


  		




  
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        joint_interface_->publish_target(JointInterface::ID_LIP_LEFT_UPPER);


  		




  
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        joint_interface_->publish_target(JointInterface::ID_LIP_LEFT_LOWER);


  		




  
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        joint_interface_->publish_target(JointInterface::ID_LIP_CENTER_UPPER);


  		




  
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        joint_interface_->publish_target(JointInterface::ID_LIP_CENTER_LOWER);


  		




  
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        joint_interface_->publish_target(JointInterface::ID_LIP_RIGHT_UPPER);


  		




  
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        joint_interface_->publish_target(JointInterface::ID_LIP_RIGHT_LOWER);


  		




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    }


  		




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}


  		




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