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[Feature] Head Look to Distance #32

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Merged
mbsaloka merged 1 commit into from
Jun 1, 2026
Merged

[Feature] Head Look to Distance #32

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1 change: 1 addition & 0 deletions include/atama/head/process/head.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,7 @@ class Head

void look_to_position_regression(double goal_position_x, double goal_position_y);
void look_to_position(double goal_position_x, double goal_position_y);
void look_to_distance(double goal_distance_x, double goal_distance_y);

void load_config(const std::string & file_name);

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18 changes: 16 additions & 2 deletions src/atama/head/process/head.cpp
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Expand Up @@ -424,8 +424,8 @@ void Head::process()
case control::SCAN_TRIANGLE:
{
if (init_scanning()) {
scan_pan_angle = 0.0;
scan_tilt_angle = scan_bottom_limit;
scan_pan_angle = get_pan_angle();
scan_tilt_angle = get_tilt_angle();

scan_position = 1;
scan_direction = 1;
Expand Down Expand Up @@ -581,6 +581,20 @@ void Head::look_to_position(double goal_position_x, double goal_position_y)
}
}

void Head::look_to_distance(double goal_distance_x, double goal_distance_y)
{
double distance = std::hypot(goal_distance_x, goal_distance_y);

if (distance > 0) {
function_id = control::LOOK_TO_POSITION;

double pan = keisan::signed_arctan(goal_distance_y, goal_distance_x).normalize().degree();
double tilt = calculate_tilt_from_camera_height(distance);

move_by_angle(pan - pan_center, tilt);
}
}

void Head::set_pan_tilt_angle(double pan, double tilt)
{
current_pan_angle = pan;
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