Revision f7954788

View differences:

cfg/humotion.cfg
54 54 
add_entry(eye_group, "scale_acceleration_eye", "scaling factor for eye acceleration (in percent, 1.0 = full human acceleration)", 0.1, 1.0)
55 55 
add_entry(eye_group, "limit_velocity_eye", "limit for eye velocity (in deg/s)", 100.0, 1000.0)
56 56 
add_entry(eye_group, "limit_acceleration_eye", "limit for eye acceleration (in deg/s^2)", 100.0, 80000.0)
57 
add_entry_bool(eye_group, "use_neck_target_instead_of_position_eye", "use neck target in difference calc instead of real position")
58 

  		




  57
  59
  
    

  		




  58
  60
  
    
eyeblink_group = gen.add_group("eyeblink")


  		




  59
  61
  
    
add_entry(eyeblink_group, "eyeblink_duration", "duration for an eyeblink (in seconds)", 0.01, 1.0)


  		












  

    
      include/humotion/server/config.h
    
  





  59
  59
  
    
    float scale_acceleration_eye;


  		




  60
  60
  
    
    float limit_velocity_eye;


  		




  61
  61
  
    
    float limit_acceleration_eye;


  		




  
  62
  
    
    bool use_neck_target_instead_of_position_eye;


  		




  62
  63
  
    

  		




  63
  64
  
    
    // parameters fo the breathing pattern


  		




  64
  65
  
    
    float breath_period;


  		












  

    
      src/server/config.cpp
    
  





  81
  81
  
    
    // limit the maximum acceleration, value is given in deg/s^2


  		




  82
  82
  
    
    limit_acceleration_eye = 80000;


  		




  83
  83
  
    

  		




  
  84
  
    
    // calculate the overall target distance based on neck target instead of using the real neck


  		




  
  85
  
    
    // position


  		




  
  86
  
    
    use_neck_target_instead_of_position_eye = true;


  		




  84
  87
  
    

  		




  85
  88
  
    
    // parameters fo the breathing pattern


  		




  86
  89
  
    
    // healthy adult human: 12-15 breaths/min (see e.g. "Ganong's review of medical physiology")


  		












  

    
      src/server/eye_motion_generator.cpp
    
  





  82
  82
  
    
//! calculate joint targets


  		




  83
  83
  
    
void EyeMotionGenerator::calculate_targets() {


  		




  84
  84
  
    
    // use the target values for a faster response


  		




  85
  
  
    
    float neck_pan_now  = joint_interface_->get_target_position(JointInterface::ID_NECK_PAN);


  		




  86
  
  
    
    float neck_tilt_now = joint_interface_->get_target_position(JointInterface::ID_NECK_TILT);


  		




  
  85
  
    
    float neck_pan_now  = 0.0;


  		




  
  86
  
    
    float neck_tilt_now = 0.0;


  		




  
  87
  
    

  		




  
  88
  
    
    if (use_neck_target_instead_of_position_eye) {


  		




  
  89
  
    
        // position calc based on target


  		




  
  90
  
    
        neck_pan_now = joint_interface_->get_target_position(JointInterface::ID_NECK_PAN);


  		




  
  91
  
    
        neck_tilt_now = joint_interface_->get_target_position(JointInterface::ID_NECK_TILT);


  		




  
  92
  
    
    } else {


  		




  
  93
  
    
        // position calc based on real position


  		




  
  94
  
    
        neck_pan_now =


  		




  
  95
  
    
                joint_interface_->get_ts_position(JointInterface::ID_NECK_PAN).get_newest_value();


  		




  
  96
  
    
        neck_tilt_now =


  		




  
  97
  
    
                joint_interface_->get_ts_position(JointInterface::ID_NECK_TILT).get_newest_value();


  		




  
  98
  
    
    }


  		




  87
  99
  
    

  		




  88
  100
  
    
    // calculate target angles for the eyes


  		




  89
  101
  
    
    // right eye is dominant -> direct output


  		




  ......




  99
  111
  
    
    // tilt


  		




  100
  112
  
    
    float eye_tilt_target = requested_gaze_state_.tilt - (neck_tilt_now);


  		




  101
  113
  
    

  		




  102
  
  
    
    if (0) {


  		




  103
  
  
    
        eye_pan_r_target = 0.0;


  		




  104
  
  
    
        eye_pan_l_target = 0.0;


  		




  105
  
  
    
        eye_tilt_target  = 0.0;


  		




  106
  
  
    
    }


  		




  107
  
  
    

  		




  108
  114
  
    
    // check and take care of limits


  		




  109
  115
  
    
    eye_pan_l_target = limit_target(JointInterface::ID_EYES_LEFT_LR, eye_pan_l_target);


  		




  110
  116
  
    
    eye_pan_r_target = limit_target(JointInterface::ID_EYES_RIGHT_LR, eye_pan_r_target);


  		












Also available in:  Unified diff