humotion

//! set the current position of a joint

//! \param id of joint

//! \param float value of position

//! \param double timestamp

void iCubJointInterface::store_incoming_position(int humotion_id, double position, double timestamp){

    cout << "iCubJointInterface::store_incoming_position(humotionid=" << humotion_id <<

            ", " << position << ", ...)\n";

    JointInterface::store_incoming_position(humotion_id, position, timestamp);

}

/*

    //store joint based on id:

    switch(id){

        default:

            //printf("> ERROR: unhandled joint id %d\n",id);

            return;

        case(100):

            //JointInterface::store_incoming_position(ID_EYES_RIGHT_LID_UPPER, lid_angle, timestamp);

            break;

        case(ICUB_ID_NECK_PAN):

            //PAN is inverted!

            JointInterface::store_incoming_position(ID_NECK_PAN, value, timestamp);

            break;

        case(ICUB_ID_NECK_TILT):

            JointInterface::store_incoming_position(ID_NECK_TILT, value, timestamp);

            break;

        case(ICUB_ID_NECK_ROLL):

            JointInterface::store_incoming_position(ID_NECK_ROLL, value, timestamp);

            break;

        case(ICUB_ID_EYES_BOTH_UD):

            JointInterface::store_incoming_position(ID_EYES_BOTH_UD, value, timestamp);

            break;

        //icub handles eyes differently, we have to set pan angle + vergence

        case(ICUB_ID_EYES_PAN): {//pan

            last_pos_eye_pan = value;

            float left  = last_pos_eye_pan + last_pos_eye_vergence/2.0;

            float right = last_pos_eye_pan - last_pos_eye_vergence/2.0;

            //printf("> eye: pan=%3.2f vergence=%3.2f --> L=%3.2f R=%3.2f\n", last_pos_eye_pan, last_pos_eye_vergence, left, right);

            JointInterface::store_incoming_position(ID_EYES_LEFT_LR, left, timestamp);

            JointInterface::store_incoming_position(ID_EYES_RIGHT_LR, right, timestamp);

            break;

        }

        case(ICUB_ID_EYES_VERGENCE): { //vergence

            last_pos_eye_vergence = value;

            float left  = last_pos_eye_pan + last_pos_eye_vergence/2.0;

            float right = last_pos_eye_pan - last_pos_eye_vergence/2.0;

            //printf("> eye: pan=%3.2f vergence=%3.2f --> L=%3.2f R=%3.2f\n", last_pos_eye_pan, last_pos_eye_vergence, left, right);

            JointInterface::store_incoming_position(ID_EYES_LEFT_LR, left, timestamp);

            JointInterface::store_incoming_position(ID_EYES_RIGHT_LR, right, timestamp);

            break;

        }

    }

}*/