Project: engagement_generation

License: BSD

Dependencies:

Used by: None

All Packages

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 ( Behavior  source,
String  actor,
String  target,
BMLEmitListener  emit 
) [package, pure virtual]

Create the emit tag which will be received again to start the directed gaze service call to recognition.

Parameters:
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 ( Logger  logger,
String  id,
String  target,
boolean  required 
) [package, pure virtual]

Create a gaze behavior, if needed, based on the target and if this option should look at the object.

Parameters:
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,
String  id,
String  target,
boolean  required,
boolean  last 
) [package, pure virtual]

Create a gesture behavior, if needed, based on the target and if this option should point to the object.

Parameters:
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,
String  object,
SituationKnowledge  situation 
) [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:
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.

DistractorSet edu::wpi::hri::gen::policy::ref::GestureOption::findGazeDistractors ( String  object,
SituationKnowledge  situation 
) [inline, protected]

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 ( String  object,
SituationKnowledge  situation 
) [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:
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.

double edu::wpi::hri::gen::policy::ref::GestureOption::findPointCost ( GestureState  state,
String  object,
SituationKnowledge  situation,
NoPointZone  noZone 
) [inline, protected]

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:
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.

DistractorSet edu::wpi::hri::gen::policy::ref::GestureOption::findPointDistractors ( String  object,
SituationKnowledge  situation 
) [inline, protected]

Find all of the distractors that are within the point distraction rectangle. Eventually this should be more of a cone or a cylinder.

Parameters:
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.

abstract double edu::wpi::hri::gen::policy::ref::GestureOption::getCost ( GestureState  state,
String  object,
SituationKnowledge  situation,
NoPointZone  noZone 
) [package, pure virtual]

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:
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 ( String  object,
SituationKnowledge  situation 
) [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:
object The object to gesture toward.
situation The situation knowledge to use.
Returns:
The remaining distractor set.
abstract GestureState edu::wpi::hri::gen::policy::ref::GestureOption::getNextState ( GestureState  state,
String  object,
SituationKnowledge  situation 
) [package, pure virtual]

Get the next gesture state after this

Parameters:
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 (  )  [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:

engagement_generation
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:45 2011