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

00001 /*
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00034 package edu.wpi.hri.gen.policy.ref;
00035 
00036 import edu.wpi.hri.gen.comm.GazeKnowledge;
00037 import edu.wpi.hri.gen.comm.SituationKnowledge;
00038 
00046 class GestureState {
00047 
00048         private final Point robotGazePoint;
00049         private final Point robotLeftHandPoint;
00050         private final Point robotRightHandPoint;
00051 
00060         GestureState(GazeKnowledge knowledge, SituationKnowledge world) {
00061                 this(world.get(knowledge.getTarget()), world.getRobotLeftHand(), world
00062                                 .getRobotLeftHand());
00063         }
00064 
00076         GestureState(Point gaze, Point leftHand, Point rightHand) {
00077                 this.robotGazePoint = gaze;
00078                 this.robotLeftHandPoint = leftHand;
00079                 this.robotRightHandPoint = rightHand;
00080         }
00081 
00087         Point getGazePoint() {
00088                 return robotGazePoint;
00089         }
00090 
00097         Point getRobotLeftHand() {
00098                 return robotLeftHandPoint;
00099         }
00100 
00107         Point getRobotRightHand() {
00108                 return robotRightHandPoint;
00109         }
00110 
00124         GestureState nextState(Point gaze, Point leftHand, Point rightHand) {
00125                 return new GestureState(gaze == null ? this.robotGazePoint : gaze,
00126                                 leftHand == null ? this.robotLeftHandPoint : leftHand,
00127                                 rightHand == null ? this.robotRightHandPoint : rightHand);
00128         }
00129 }