Revision fdb6f148

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

  		




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


  		




  67
  
  
    
    JointInterface::store_incoming_position(id, 0.0, 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_speed(id, 0.0, timestamp);


  		




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}


  		




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      src/server/controller.cpp
    
  





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    }


  		




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    GazeState target_gaze;


  		




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    new_gaze_target.dump();


  		




  
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    //new_gaze_target.dump();


  		




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    //relative or absolute gaze update?


  		




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    if (new_gaze_target.gaze_type == GazeState::GAZETYPE_RELATIVE){


  		












  

    
      src/server/gaze_motion_generator.cpp
    
  





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    }


  		




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    //check for eye getting close to ocolomotor range


  		




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    float eye_pos_l = joint_interface->get_ts_position(JointInterface::ID_EYES_LEFT_LR).get_newest_value();


  		




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    float eye_pos_r = joint_interface->get_ts_position(JointInterface::ID_EYES_RIGHT_LR).get_newest_value();


  		




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    float eye_pos_ud = joint_interface->get_ts_position(JointInterface::ID_EYES_BOTH_UD).get_newest_value();


  		




  
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    //float eye_pos_l = joint_interface->get_ts_position(JointInterface::ID_EYES_LEFT_LR).get_newest_value();


  		




  
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    //float eye_pos_r = joint_interface->get_ts_position(JointInterface::ID_EYES_RIGHT_LR).get_newest_value();


  		




  
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    //float eye_pos_ud = joint_interface->get_ts_position(JointInterface::ID_EYES_BOTH_UD).get_newest_value();


  		




  
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    //actually it makes more sense to trigger the neck saccade based on the target getting out of the OMR


  		




  
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    float eye_target_l  = joint_interface->get_target_position(JointInterface::ID_EYES_LEFT_LR);


  		




  
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    float eye_target_r  = joint_interface->get_target_position(JointInterface::ID_EYES_RIGHT_LR);


  		




  
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    float eye_target_ud = joint_interface->get_target_position(JointInterface::ID_EYES_BOTH_UD);


  		




  80
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    //min/max bounds:


  		




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    float left_min  = OMR_LIMIT_TRIGGERS_NECK_SACCADE * joint_interface->get_joint_min(JointInterface::ID_EYES_LEFT_LR);


  		




  ......




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    float ud_max    = OMR_LIMIT_TRIGGERS_NECK_SACCADE * joint_interface->get_joint_max(JointInterface::ID_EYES_BOTH_UD);


  		




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    if (


  		




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        (eye_pos_l < left_min) || (eye_pos_l > left_max) ||


  		




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        (eye_pos_r < right_min) || (eye_pos_r > right_max) ||


  		




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        (eye_pos_ud < ud_min) || (eye_pos_ud > ud_max)){


  		




  
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        (eye_target_l < left_min) || (eye_target_l > left_max) ||


  		




  
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        (eye_target_r < right_min) || (eye_target_r > right_max) ||


  		




  
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        (eye_target_ud < ud_min) || (eye_target_ud > ud_max)){


  		




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        //the eyeball gets close to OMR, activate a neck compensation motion:


  		




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        neck_saccade_omr = true;


  		




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    }else{


  		












  

    
      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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