Revision fcc5e139

View differences:

examples/meka/src/mekajointinterface.cpp
64 64 
}
65 65 

  		




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void MekaJointInterface::store_dummy_data(int id, double timestamp){


  		




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    JointInterface::store_incoming_position(joint_target[ID_NECK_PAN]id, 0.0, timestamp);


  		




  
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    JointInterface::store_incoming_position(id, 0.0, timestamp);


  		




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    JointInterface::store_incoming_speed(id, 0.0, timestamp);


  		




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}


  		




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  ......




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    trajectory_msgs::JointTrajectoryPoint p;


  		




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


  		




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    p.positions.push_back(joint_target[ID_NECK_PAN] * M_PI / 180.0 +0.314);


  		




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    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]);


  		




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


  		




  
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    //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]);


  		




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


  		




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      src/server/neck_motion_generator.cpp
    
  





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        requested_neck_state = requested_gaze_state;


  		




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    }


  		




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    requested_neck_state.dump();


  		




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    //get targets: this is the sum of stored neck target and up-to-date offset:


  		




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    float neck_pan_target  = requested_neck_state.pan  + requested_gaze_state.pan_offset;


  		




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    float neck_tilt_target = requested_neck_state.tilt + requested_gaze_state.tilt_offset;


  		












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