Revision f311c844

View differences:

cfg/humotion.cfg
6 6 
def fetch_default(param_name):
7 7 
    for line in open("../src/server/config.cpp"):
8 8 
        if param_name in line:
9 
            result = re.findall("=\s*([\d.]+);", line)
9 
            result = re.findall("=\s*([\d\w.]+);", line)
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            print result
11 11 
            if result:
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                return result[0]
examples/yarp_icub/src/icub_jointinterface.cpp
108 108 
        insert_icupid_to_humotionid_mapping(ICUB_ID_NECK_PAN,    ID_NECK_PAN);
109 109 
        insert_icupid_to_humotionid_mapping(ICUB_ID_NECK_TILT,   ID_NECK_TILT);
110 110 
        insert_icupid_to_humotionid_mapping(ICUB_ID_NECK_ROLL,   ID_NECK_ROLL);
111 
        // FIXME: remove this hack tha repurposes LEFT/RIGHT eye pan from humotion as vergence/pan
111 
        //
112 112 
        insert_icupid_to_humotionid_mapping(ICUB_ID_EYES_PAN,   ID_EYES_LEFT_LR);
113 113 
        insert_icupid_to_humotionid_mapping(ICUB_ID_EYES_VERGENCE,   ID_EYES_RIGHT_LR);
114 114 
        insert_icupid_to_humotionid_mapping(ICUB_ID_EYES_BOTH_UD,   ID_EYES_BOTH_UD);
src/server/eyelid_motion_generator.cpp
60 60 
    // fetch current angles
61 61 
    float eye_tilt_now  = get_current_position(JointInterface::ID_EYES_BOTH_UD);
62 62 

  		




  
  63
  
    
    float eyelid_target = 0.0;


  		




  
  64
  
    
    if (config->eyelids_follow_eyemotion) {


  		




  
  65
  
    
        // the eyelids shoudl follow the eye motion


  		




  
  66
  
    
        // therefore copy the eyeballs tilt position


  		




  
  67
  
    
        eyelid_target = eye_tilt_now;


  		




  
  68
  
    
    }


  		




  
  69
  
    

  		




  63
  70
  
    
    // calculate left eyelid targets


  		




  64
  
  
    
    float eyelid_upper_left_target = eye_tilt_now + requested_gaze_state_.eyelid_opening_upper;


  		




  65
  
  
    
    float eyelid_lower_left_target = eye_tilt_now - requested_gaze_state_.eyelid_opening_lower;


  		




  
  71
  
    
    float eyelid_upper_left_target = eyelid_target + requested_gaze_state_.eyelid_opening_upper;


  		




  
  72
  
    
    float eyelid_lower_left_target = eyelid_target - requested_gaze_state_.eyelid_opening_lower;


  		




  66
  73
  
    

  		




  67
  74
  
    
    // calculate right eyelid targets


  		




  68
  
  
    
    float eyelid_upper_right_target = eye_tilt_now + requested_gaze_state_.eyelid_opening_upper;


  		




  69
  
  
    
    float eyelid_lower_right_target = eye_tilt_now - requested_gaze_state_.eyelid_opening_lower;


  		




  
  75
  
    
    float eyelid_upper_right_target = eyelid_target + requested_gaze_state_.eyelid_opening_upper;


  		




  
  76
  
    
    float eyelid_lower_right_target = eyelid_target - requested_gaze_state_.eyelid_opening_lower;


  		




  70
  77
  
    

  		




  71
  78
  
    
    // limit target angles


  		




  72
  79
  
    
    eyelid_upper_left_target  = limit_target(JointInterface::ID_EYES_LEFT_LID_UPPER,


  		












  

    
      src/server/middleware_ros.cpp
    
  





  101
  101
  
    
    config->breath_period = dyn_config.breath_period;


  		




  102
  102
  
    
    config->breath_amplitude = dyn_config.breath_amplitude;


  		




  103
  103
  
    

  		




  
  104
  
    
    // parameters for eyelids


  		




  
  105
  
    
    config->eyelids_follow_eyemotion = dyn_config.eyelids_follow_eyemotion;


  		




  
  106
  
    

  		




  104
  107
  
    
    // parameters for eye blinking


  		




  105
  108
  
    
    config->eyeblink_duration = dyn_config.eyeblink_duration;


  		




  106
  109
  
    
    config->eyeblink_periodic_distribution_lower = dyn_config.eyeblink_periodic_distribution_lower;


  		












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