Project: engagement_generation License: BSD Dependencies: engagement_msgs engagement_srvs bml_msgs bml_srvs bml_realizer Used by: None All Packages

engagement_generation/src/edu/wpi/hri/gen/policy/HIDGPolicy.java Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ package edu.wpi.hri.gen.policy; import ros.NodeHandle; import ros.RosException; import ros.Subscriber; import ros.Subscriber.Callback; import ros.pkg.engagement_msgs.msg.HumanDirectedGaze; import ros.pkg.bml_msgs.msg.Entity; import edu.wpi.hri.gen.GenerationParams; import edu.wpi.hri.gen.comm.GazeKnowledge; import edu.wpi.hri.gen.comm.GazeListener; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class HIDGPolicy extends GazeListener implements Callback<HumanDirectedGaze> { private final Logger logger; private final Subscriber<HumanDirectedGaze> dgsub; public HIDGPolicy(NodeHandle handle, Logger logger, GazeKnowledge gaze, GazeListener next) throws RosException { super(next); this.logger = logger.sub(Colors.POLICY, "HIDG"); this.dgsub = handle.subscribe( GenerationParams.HUMAN_DG_PATH.getString(), new HumanDirectedGaze(), this, 100); this.logger.debug(LoggerLevel.INIT, "Created ..."); } public void shutdown() { this.dgsub.shutdown(); } @Override public synchronized void call(final HumanDirectedGaze request) { String str = " "; for (Entity ent : request.objects) str += ent.id + " "; this.logger.debug(LoggerLevel.POLICY_EXECUTION, "responding to [" + str + "]..."); for (Entity ent : request.objects) setTarget(ent.id); setTarget(null); } @Override public void gazeChanged(String target, boolean face, boolean lock) { } }

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engagement_generation
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:40 2011