Revision f311c844 src/server/eyelid_motion_generator.cpp

View differences:

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
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    // 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
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  71
  78
  
    
    // limit target angles


  		




  72
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    eyelid_upper_left_target  = limit_target(JointInterface::ID_EYES_LEFT_LID_UPPER,


  		












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