Revision f10ec142

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examples/meka/src/mekajointinterface.cpp
130 130 

  		




  131
  131
  
    
    trajectory_msgs::JointTrajectoryPoint p;


  		




  132
  132
  
    
    p.positions.push_back(joint_target[ID_NECK_TILT] * M_PI / 180.0);


  		




  133
  
  
    
    p.positions.push_back(joint_target[ID_NECK_PAN] * M_PI / 180.0);


  		




  
  133
  
    
    //pan joint is inverted!


  		




  
  134
  
    
    p.positions.push_back(-joint_target[ID_NECK_PAN] * M_PI / 180.0);


  		




  134
  135
  
    
    //printf("targets pan=%4.1f tilt=%4.1f (eye p %4.1f t %4.2f)\n",joint_target[ID_NECK_TILT],joint_target[ID_NECK_PAN],joint_target[ID_EYES_LEFT_LR],joint_target[ID_EYES_BOTH_UD]);


  		




  135
  136
  
    

  		




  136
  137
  
    
    p.time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);


  		




  ......




  209
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}


  		




  210
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  211
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void MekaJointInterface::init_joints(){


  		




  212
  
  
    
    store_min_max(ID_NECK_TILT, -18, 1);


  		




  213
  
  
    
    store_min_max(ID_NECK_PAN, -56, 56);


  		




  
  213
  
    
    store_min_max(ID_NECK_TILT, -37, 1);


  		




  
  214
  
    
    store_min_max(ID_NECK_PAN, -70, 70);


  		




  214
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    store_min_max(ID_NECK_ROLL, -1, 1);


  		




  216
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    store_min_max(ID_EYES_BOTH_UD, -1, 1);


  		












  

    
      src/server/controller.cpp
    
  





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  117
  
    
    absolute_gaze.pan   = pan + relative.pan;


  		




  118
  118
  
    
    absolute_gaze.tilt  = tilt + relative.tilt;


  		




  119
  119
  
    
    absolute_gaze.roll  = roll + relative.roll;


  		




  120
  
  
    
    printf("pan now = %4.1f, rel=%4.1f ===> %4.2f\n",pan,relative.pan,absolute_gaze.pan);


  		




  
  120
  
    
    //printf("pan now = %4.1f, rel=%4.1f ===> %4.2f\n",pan,relative.pan,absolute_gaze.pan);


  		




  
  121
  
    
    //printf("tilt now = %4.1f, rel=%4.1f ===> %4.2f\n",tilt,relative.tilt,absolute_gaze.tilt);


  		




  121
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  122
  123
  
    
    //FIXME: use ros TF for that calculation...


  		




  123
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    //see http://wiki.ros.org/tf/Tutorials/Time%20travel%20with%20tf%20%28C%2B%2B%29


  		












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