engagement_generation: engagement_generation/src/edu/wpi/hri/gen/policy/ref/GestureSpeechPair.java Source File

00001 /*
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00034 package edu.wpi.hri.gen.policy.ref;
00035 
00036 import edu.wpi.hri.gen.comm.SituationKnowledge;
00037 import edu.wpi.hri.gen.ebml.SpeechOption;
00038 import edu.wpi.hri.log.Logger;
00039 import edu.wpi.hri.log.Logger.Colors;
00040 import edu.wpi.hri.log.Logger.LoggerLevel;
00041 
00050 class GestureSpeechPair {
00051 
00052         private final Logger logger;
00053         private final GestureOption gesture;
00054         private final SpeechOption speech;
00055         private final String object;
00056         private final double reliability;
00057         private final DistractorSet distractors;
00058         private final SituationKnowledge situation;
00059 
00074         GestureSpeechPair(Logger logger, GestureOption gesture,
00075                         SpeechOption speech, String object, SituationKnowledge situation) {
00076                 this.logger = logger.sub(Colors.REFERENCE, "GS-" + gesture + "-"
00077                                 + speech.getID());
00078                 this.gesture = gesture;
00079                 this.speech = speech;
00080                 this.object = object;
00081 
00082                 this.logger.debug(LoggerLevel.MATH, "Finding Reliability ...");
00083                 this.reliability = gesture.getReliability() + speech.getReliability();
00084 
00085                 logger.debug(LoggerLevel.MATH, "Finding Distractors ...");
00086                 this.situation = situation;
00087                 DistractorSet dg = gesture.getDistractors(object, situation);
00088                 DistractorSet ds = speech.getDistractors();
00089                 this.distractors = (dg == null) ? ds : ((ds == null) ? dg : dg
00090                                 .intersection(ds));
00091         }
00092 
00098         SpeechOption getSpeech() {
00099                 return this.speech;
00100         }
00101 
00107         GestureOption getGesture() {
00108                 return gesture;
00109         }
00110 
00122         double getCost(GestureState state, NoPointZone noZone) {
00123                 double cost = gesture.getCost(state, object, situation, noZone)
00124                                 + speech.getCost();
00125                 logger.debug(LoggerLevel.MATH, "Costs " + cost);
00126                 return cost;
00127         }
00128 
00134         double getInherentReliability() {
00135                 return reliability;
00136         }
00137 
00146         DistractorSet getDistractors(SituationKnowledge situation) {
00147                 return distractors;
00148         }
00149 
00160         GestureState getNextState(GestureState state, SituationKnowledge situation) {
00161                 return this.gesture.getNextState(state, object, situation);
00162         }
00163 }