humotion

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*/

#ifndef INCLUDE_HUMOTION_SERVER_EYE_MOTION_GENERATOR_H_

#define INCLUDE_HUMOTION_SERVER_EYE_MOTION_GENERATOR_H_

#include "humotion/server/gaze_motion_generator.h"

#include "humotion/timestamped_list.h"

namespace humotion {

namespace server {

class EyeMotionGenerator : public GazeMotionGenerator {

 public:

    explicit EyeMotionGenerator(JointInterface *j);

    ~EyeMotionGenerator();

    void calculate_targets();

    void publish_targets();

    static const float SACCADE_SPEED_THRESHOLD;

 private:

    void setup_eyemotion(int dof, float target, float current_position,

                         float current_velocity, Timestamp timestamp);

    TimestampedList tsl_gaze_target_pan_;

    TimestampedList tsl_gaze_target_tilt_;

    TimestampedList tsl_gaze_target_vergence_;

};

}  // namespace server

}  // namespace humotion

#endif  // INCLUDE_HUMOTION_SERVER_EYE_MOTION_GENERATOR_H_