Revision fdb6f148 src/server/gaze_motion_generator.cpp

View differences:

src/server/gaze_motion_generator.cpp
74 74 
    }
75 75 

  		




  76
  76
  
    
    //check for eye getting close to ocolomotor range


  		




  77
  
  
    
    float eye_pos_l = joint_interface->get_ts_position(JointInterface::ID_EYES_LEFT_LR).get_newest_value();


  		




  78
  
  
    
    float eye_pos_r = joint_interface->get_ts_position(JointInterface::ID_EYES_RIGHT_LR).get_newest_value();


  		




  79
  
  
    
    float eye_pos_ud = joint_interface->get_ts_position(JointInterface::ID_EYES_BOTH_UD).get_newest_value();


  		




  
  77
  
    
    //float eye_pos_l = joint_interface->get_ts_position(JointInterface::ID_EYES_LEFT_LR).get_newest_value();


  		




  
  78
  
    
    //float eye_pos_r = joint_interface->get_ts_position(JointInterface::ID_EYES_RIGHT_LR).get_newest_value();


  		




  
  79
  
    
    //float eye_pos_ud = joint_interface->get_ts_position(JointInterface::ID_EYES_BOTH_UD).get_newest_value();


  		




  
  80
  
    
    //actually it makes more sense to trigger the neck saccade based on the target getting out of the OMR


  		




  
  81
  
    
    float eye_target_l  = joint_interface->get_target_position(JointInterface::ID_EYES_LEFT_LR);


  		




  
  82
  
    
    float eye_target_r  = joint_interface->get_target_position(JointInterface::ID_EYES_RIGHT_LR);


  		




  
  83
  
    
    float eye_target_ud = joint_interface->get_target_position(JointInterface::ID_EYES_BOTH_UD);


  		




  80
  84
  
    

  		




  81
  85
  
    
    //min/max bounds:


  		




  82
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    float left_min  = OMR_LIMIT_TRIGGERS_NECK_SACCADE * joint_interface->get_joint_min(JointInterface::ID_EYES_LEFT_LR);


  		




  ......




  87
  91
  
    
    float ud_max    = OMR_LIMIT_TRIGGERS_NECK_SACCADE * joint_interface->get_joint_max(JointInterface::ID_EYES_BOTH_UD);


  		




  88
  92
  
    

  		




  89
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    if (


  		




  90
  
  
    
        (eye_pos_l < left_min) || (eye_pos_l > left_max) ||


  		




  91
  
  
    
        (eye_pos_r < right_min) || (eye_pos_r > right_max) ||


  		




  92
  
  
    
        (eye_pos_ud < ud_min) || (eye_pos_ud > ud_max)){


  		




  
  94
  
    
        (eye_target_l < left_min) || (eye_target_l > left_max) ||


  		




  
  95
  
    
        (eye_target_r < right_min) || (eye_target_r > right_max) ||


  		




  
  96
  
    
        (eye_target_ud < ud_min) || (eye_target_ud > ud_max)){


  		




  93
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        //the eyeball gets close to OMR, activate a neck compensation motion:


  		




  94
  98
  
    
        neck_saccade_omr = true;


  		




  95
  99
  
    
    }else{


  		












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