Revision f7954788 src/server/eye_motion_generator.cpp

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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
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    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


  		




  
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        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


  		




  
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        neck_pan_now =


  		




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


  		




  
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        neck_tilt_now =


  		




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


  		




  
  98
  
    
    }


  		




  87
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  88
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    // calculate target angles for the eyes


  		




  89
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    // right eye is dominant -> direct output


  		




  ......




  99
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    // tilt


  		




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    float eye_tilt_target = requested_gaze_state_.tilt - (neck_tilt_now);


  		




  101
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  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
  
  
    

  		




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    // check and take care of limits


  		




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    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);


  		












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