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/ref/ReferenceOptions.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.ref; import java.util.ArrayList; import java.util.List; import edu.wpi.hri.bml.behavior.Behavior; import edu.wpi.hri.bml.behavior.EmitBehavior; import edu.wpi.hri.bml.behavior.GazeBehavior; import edu.wpi.hri.bml.behavior.GestureBehavior; import edu.wpi.hri.bml.behavior.SpeechBehavior; import edu.wpi.hri.gen.comm.BMLEmitListener; import edu.wpi.hri.gen.comm.SituationKnowledge; import edu.wpi.hri.gen.ebml.ReferenceBehavior; import edu.wpi.hri.gen.ebml.SpeechOption; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; class ReferenceOptions { protected final Logger logger; private List<GestureSpeechPair> pairs; private List<GestureSpeechPair> unreliable; private final ReferenceBehavior ref; private GestureSpeechPair best; private ReferenceOptions next; protected final SituationKnowledge situation; ReferenceOptions(Logger logger, ReferenceBehavior behavior, SituationKnowledge situation) { this.logger = logger.sub(Colors.REFERENCE, "RO-" + behavior.getID()); this.situation = situation; this.ref = behavior; this.pairs = filterReliable(generateOptions(behavior), behavior, situation); this.best = null; this.next = null; this.logger.debug(LoggerLevel.INIT, "Created ..."); } protected List<GestureSpeechPair> generateOptions(ReferenceBehavior behavior) { String target = behavior.getTarget(); List<GestureSpeechPair> pairs = new ArrayList<GestureSpeechPair>(); // Create all of the possible gesture-speech pairs from the reference for (SpeechOption so : behavior.getSpeechOptions()) { if (!so.isDeictic()) { pairs.add(new GestureSpeechPair(logger, GestureOption.LAMBDA, so, target, situation)); pairs.add(new GestureSpeechPair(logger, GestureOption.GAZE, so, target, situation)); pairs.add(new GestureSpeechPair(logger, GestureOption.DIRECTED_GAZE, so, target, situation)); } pairs.add(new GestureSpeechPair(logger, GestureOption.DIRECTED_GAZE_POINTING, so, target, situation)); } return pairs; } protected List<GestureSpeechPair> filterReliable( List<GestureSpeechPair> pairs, ReferenceBehavior behavior, SituationKnowledge situation) { // then there is no sense in keeping those that don't have the minimum // reliability requested, so remove them List<GestureSpeechPair> toKeep = new ArrayList<GestureSpeechPair>(); unreliable = new ArrayList<GestureSpeechPair>(); this.logger.debug(LoggerLevel.MATH, "filtering for reliability"); for (GestureSpeechPair gsp : pairs) { double reliability = reliabilityOf(gsp); if (reliability > behavior.getMinReliability()) toKeep.add(gsp); else unreliable.add(gsp); } return toKeep; } private double reliabilityOf(GestureSpeechPair gsp) { DistractorSet dist = gsp.getDistractors(situation); if (dist == null) return 0.0; double inherent = gsp.getInherentReliability(); return (1.0 / (dist.size() + (1.0 / inherent))); } public ReferenceBehavior getBehavior() { return ref; } void setNextOption(ReferenceOptions next) { this.next = next; } boolean isLast() { return next == null; } SpeechBehavior createSpeech() { return new SpeechBehavior(logger, ref.getID() + "-speech", best .getSpeech().getText(), null, ref.isRequired()); } GazeBehavior createGaze() { if (this.best != null) return this.best.getGesture().createGaze(logger, ref.getID(), ref.getTarget(), ref.isRequired()); else return null; } GestureBehavior createPoint(SituationKnowledge situation) { if (this.best != null) { boolean sameHand = false; // if the next is null, we obviously should home the hand. if (this.next != null) { boolean nextRight = situation.isObjectOnRight(next.ref .getTarget()); boolean thisRight = situation.isObjectOnRight(this.ref .getTarget()); boolean nextPointing = this.next.createPoint(situation) != null; sameHand = (nextRight == thisRight) && nextPointing; this.logger.debug(LoggerLevel.ALL, "this object is [" + thisRight + "] next object is [" + nextRight + "] next is pointing [" + nextPointing + "]and same is [" + sameHand + "]"); } else { // if it is null, just log that is true. this.logger.debug(LoggerLevel.ALL, "this next object is null and same is [" + sameHand + "]"); } return this.best.getGesture().createGesture(logger, ref.getID(), ref.getTarget(), ref.isRequired(), !sameHand); } else return null; } EmitBehavior createDG(String actor, BMLEmitListener emit, Behavior source) { if (this.best != null) { return this.best.getGesture().createDG(source, actor, ref.getTarget(), emit); } else return null; } double findBest(SituationKnowledge situation, GestureState state, NoPointZone noZone) throws UnreferencableException { if (this.pairs.size() > 0) { logger.debug(LoggerLevel.MATH, "Finding costs for options ..."); // first find the cost of each pair in context List<GSCost> costs = new ArrayList<GSCost>(); for (GestureSpeechPair pair : pairs) { GSCost gsc = new GSCost(); gsc.pair = pair; gsc.cost = pair.getCost(state, noZone); if (this.next != null) gsc.cost += this.next.findBest(situation, pair.getNextState(state, situation), noZone); costs.add(gsc); } logger.debug(LoggerLevel.MATH, "finding the lowest cost ..."); // then find the best option based on cost GSCost lowest = costs.get(0); for (int c = 0; c < costs.size(); c++) { if (costs.get(c).cost < lowest.cost) lowest = costs.get(c); } // if the cost is infinite, then we can't do it, so find the next // best option from the unreliable bin. List<GestureSpeechPair> used = new ArrayList<GestureSpeechPair>(); while (Double.isInfinite(lowest.cost)) { GestureSpeechPair nextBest = null; double nextReliability = 0; double temp; // Find the next most reliable pair for (GestureSpeechPair gsp : unreliable) { if (used.contains(gsp)) continue; else if (nextBest == null) { nextBest = gsp; nextReliability = reliabilityOf(gsp); } else if (nextReliability < (temp = reliabilityOf(gsp))) { nextBest = gsp; nextReliability = temp; } } // if it's null, then we just can't do anything, although this // shouldn't happen since LAMBDA is ok if (nextBest == null) throw new UnreferencableException("0 available options"); // then calculate the cost to see if it is still INF lowest.pair = nextBest; lowest.cost = nextBest.getCost(state, noZone); if (this.next != null) lowest.cost += this.next.findBest(situation, nextBest.getNextState(state, situation), noZone); used.add(nextBest); } logger.debug(LoggerLevel.MATH, "returning the lowest ..."); // then remember this and inform the future references, then return // the cost this.best = lowest.pair; if (this.next != null) this.next.findBest(situation, lowest.pair.getNextState(state, situation), noZone); return lowest.cost; } else throw new UnreferencableException("0 available options"); } private class GSCost { GestureSpeechPair pair; double cost; } @SuppressWarnings("serial") static class UnreferencableException extends Exception { public UnreferencableException(String string) { super(string); } } }

---

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