Project: engagement_generation
License: BSD
Dependencies:
Used by:
None
All Packages
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edu::wpi::hri::gen::policy::ref::GestureOption Class Reference
List of all members.
Protected Member Functions |
double | findGazeCost (GestureState state, String object, SituationKnowledge situation) |
DistractorSet | findGazeDistractors (String object, SituationKnowledge situation) |
Point | findHandPoint (String object, SituationKnowledge situation) |
double | findPointCost (GestureState state, String object, SituationKnowledge situation, NoPointZone noZone) |
DistractorSet | findPointDistractors (String object, SituationKnowledge situation) |
Package Functions |
abstract EmitBehavior | createDG (Behavior source, String actor, String target, BMLEmitListener emit) |
abstract GazeBehavior | createGaze (Logger logger, String id, String target, boolean required) |
abstract GestureBehavior | createGesture (Logger logger, String id, String target, boolean required, boolean last) |
abstract double | getCost (GestureState state, String object, SituationKnowledge situation, NoPointZone noZone) |
abstract DistractorSet | getDistractors (String object, SituationKnowledge situation) |
abstract GestureState | getNextState (GestureState state, String object, SituationKnowledge situation) |
abstract double | getReliability () |
Static Package Attributes |
static final GestureOption | DIRECTED_GAZE |
static final GestureOption | DIRECTED_GAZE_POINTING |
static final GestureOption | GAZE |
static final GestureOption | LAMBDA |
Detailed Description
The Gesture Option class contains the possible options available for the reference policy. Each option can provide the required information required by the reference policy. When used with the GestureSpeechPair, this class provides the required formulas for all the gestures in a Directed Gaze.
- Author:
- Aaron Holroyd (aholroyd (at) wpi (dot) edu)
Definition at line 67 of file GestureOption.java.
Member Function Documentation
abstract EmitBehavior edu::wpi::hri::gen::policy::ref::GestureOption::createDG |
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Behavior |
source, |
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String |
actor, |
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String |
target, |
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BMLEmitListener |
emit | |
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| | [package, pure virtual] |
Create the emit tag which will be received again to start the directed gaze service call to recognition.
- Parameters:
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| source | The behavior which is to fire the directed gaze. |
| actor | The actor to whom the directed gaze is directed. |
| target | The target to point to. |
| emit | The Emit listener which can construct the emit tag. |
- Returns:
- The emit behavior.
abstract GazeBehavior edu::wpi::hri::gen::policy::ref::GestureOption::createGaze |
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Logger |
logger, |
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String |
id, |
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String |
target, |
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boolean |
required | |
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) |
| | [package, pure virtual] |
Create a gaze behavior, if needed, based on the target and if this option should look at the object.
- Parameters:
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| logger | The logger to use for the created behavior. |
| id | The id of the overall reference behavior. |
| target | The target to point to. |
| required | True if the gaze is required (if created). |
- Returns:
- The gaze behavior.
abstract GestureBehavior edu::wpi::hri::gen::policy::ref::GestureOption::createGesture |
( |
Logger |
logger, |
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String |
id, |
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String |
target, |
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boolean |
required, |
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boolean |
last | |
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) |
| | [package, pure virtual] |
Create a gesture behavior, if needed, based on the target and if this option should point to the object.
- Parameters:
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| logger | The logger to use for the created behavior. |
| id | The id of the overall reference behavior. |
| target | The target to point to. |
| required | True if the gesture is required (if created). |
| last | True if the point is the last and the arm should return home. |
- Returns:
- The gesture behavior.
double edu::wpi::hri::gen::policy::ref::GestureOption::findGazeCost |
( |
GestureState |
state, |
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String |
object, |
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SituationKnowledge |
situation | |
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) |
| | [inline, protected] |
Find the cost to look at the given object, in the given situation, in the given state. This is calculated by finding the maximum angle change of one of the neck joints.
- Parameters:
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| state | The state before starting the gaze. |
| object | The object to look at. |
| situation | The situation dependent values. |
- Returns:
- The cost to look at the object.
Definition at line 189 of file GestureOption.java.
Find all of the distractors that are within the gaze distraction sphere.
- Parameters:
-
| object | The real object to look at. |
| situation | The situation to look in. |
- Returns:
- The distractor set in the distraction sphere.
Definition at line 285 of file GestureOption.java.
Point edu::wpi::hri::gen::policy::ref::GestureOption::findHandPoint |
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String |
object, |
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SituationKnowledge |
situation | |
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) |
| | [inline, protected] |
Find the point which should be used for a hand location when pointing. This is calculated by the maximum distance the arm can point, and the actual location of the object.
- Parameters:
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| object | The object to point to. |
| situation | The situation of the point. |
- Returns:
- The Point which the hand should be at.
Definition at line 225 of file GestureOption.java.
Find the cost to point to the given object, in the given situation, in the given state. This is calculated by approximating the distance that the arm must travel in order to point to the given object.
- Parameters:
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| state | The state before starting the gaze. |
| object | The object to point to. |
| situation | The situation dependent values. |
| noZone | The zones which can not be pointed to. |
- Returns:
- The cost to point to the object.
Definition at line 263 of file GestureOption.java.
Find all of the distractors that are within the point distraction rectangle. Eventually this should be more of a cone or a cylinder.
- Parameters:
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| object | The real object to point to. |
| situation | The situation to point in. |
- Returns:
- The distractor set in the distraction rectangle.
Definition at line 312 of file GestureOption.java.
Each gesture has a cost associated with it. These costs are inherent to the act of completing the gesture. The value will change based on the distance of travel for each joint which has to move.
- Parameters:
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| state | The state before completing the gesture. |
| object | The object to gesture to at the end. |
| situation | The situation knowledge to use. |
| noZone | The zone which can not be pointed to. |
- Returns:
- The cost of moving joints based on this option.
abstract DistractorSet edu::wpi::hri::gen::policy::ref::GestureOption::getDistractors |
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String |
object, |
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SituationKnowledge |
situation | |
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) |
| | [package, pure virtual] |
Each gesture can eliminate distractors, but some may still remain. This method will find the object which remain as distractors after completing the associated gestures.
- Parameters:
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| object | The object to gesture toward. |
| situation | The situation knowledge to use. |
- Returns:
- The remaining distractor set.
Get the next gesture state after this
- Parameters:
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| state | the current gesture state before this option is applied. |
| object | The object this gesture applies to. |
| situation | The situation knowledge to use. |
- Returns:
- The next gesture state.
abstract double edu::wpi::hri::gen::policy::ref::GestureOption::getReliability |
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) |
[package, pure virtual] |
Each gesture option has an inherent constant reliability which is used to determine if the gesture is applicable to the given circumstance.
- Returns:
- The inherent reliability of this option.
Member Data Documentation
The directed gaze option is used to ensure that the other participant in the interaction, takes notice of the object being referenced.
Definition at line 450 of file GestureOption.java.
This option specifies that the robot should look, point, and ensure that the other participant takes notice of the object being referenced.
Definition at line 502 of file GestureOption.java.
The gaze option is used to look at, but not point to the object.
Definition at line 398 of file GestureOption.java.
The lambda option is used to not look at and not point to the object.
Definition at line 348 of file GestureOption.java.
The documentation for this class was generated from the following file:
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