move GazeConrollerInterface back to armarx_control

source/RobotAPI/interface/CMakeLists.txt

@@ -72,7 +72,6 @@ set(SLICE_FILES
     units/RobotUnit/NJointCartesianWaypointController.ice
     units/RobotUnit/NJointCartesianNaturalPositionController.ice
     units/RobotUnit/RobotUnitInterface.ice
-    units/RobotUnit/GazeController.ice
 
     units/RobotUnit/NJointBimanualForceController.ice
     units/RobotUnit/NJointBimanualObjLevelController.ice

source/RobotAPI/interface/units/RobotUnit/GazeController.ice

-
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    ArmarX::RobotAPI
-* @author     Raphael Grimm
-* @copyright  2019 Humanoids Group, H2T, KIT
-* @license    http://www.gnu.org/licenses/gpl-2.0.txt
-*             GNU General Public License
-*/
-
-#pragma once
-
-#include <RobotAPI/interface/core/FramedPoseBase.ice>
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
-
-module armarx { module control { module gaze_controller {
-
-    class GazeControllerConfig extends NJointControllerConfig
-    {
-        string cameraFrameName = "DepthCamera";
-        string yawNodeName = "Neck_1_Yaw";
-        string pitchNodeName = "Neck_2_Pitch";
-        string cameraNodeName = "DepthCamera";
-        string torsoNodeName = "TorsoJoint";
-
-        float Kp = 1.9f;
-        float Ki = 0.0f;
-        float Kd = 0.0f;
-        double maxControlValue = 1.0;
-        double maxDerivation = 0.5;
-
-        float yawAngleTolerance = 0.005;
-        float pitchAngleTolerance = 0.005;
-        bool abortIfUnreachable = false;
-    };
-
-    interface GazeControllerInterface extends
-        NJointControllerInterface
-    {
-        void submitTarget(FramedPositionBase target, long requestTimestamp);
-        void removeTarget();
-        void removeTargetAfter(long durationMilliSeconds);
-    };
-
-    interface GazeControllerListener
-    {
-        void reportGazeTarget(long requestTimestamp, long reachedTimestamp, long releasedTimestamp, long abortedTimestamp, FramedPositionBase target);
-    };
-
-};};};