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

engagement_generation/test/edu/wpi/hri/gen/policy/ref/ReferencePolicyTest.java Go to the documentation of this file. package edu.wpi.hri.gen.policy.ref; import java.io.File; import java.util.ArrayList; import junit.framework.TestCase; import org.junit.Test; import ros.NodeHandle; import ros.Ros; import ros.RosException; import ros.pkg.engagement_msgs.msg.ActorID; import ros.pkg.bml_msgs.msg.Entity; import ros.pkg.bml_msgs.msg.EntityPosition; import ros.pkg.bml_msgs.msg.Flag; import ros.pkg.engagement_msgs.msg.Performance; import edu.wpi.hri.bml.XMLInterface; import edu.wpi.hri.bml.behavior.SpeechBehavior; import edu.wpi.hri.bml.behavior.SyncRef; import edu.wpi.hri.bml.behavior.ConstraintBehavior.SyncBlock; import edu.wpi.hri.comm.MasterSpinner; import edu.wpi.hri.gen.comm.BMLEmitListener; import edu.wpi.hri.gen.comm.BMLRealizer; import edu.wpi.hri.gen.comm.GazeKnowledge; import edu.wpi.hri.gen.comm.SituationKnowledge; import edu.wpi.hri.gen.ebml.EBMLList; import edu.wpi.hri.gen.ebml.EBMLListTest; import edu.wpi.hri.log.Logger; public class ReferencePolicyTest extends TestCase { @Test public void testPolicy() throws RosException { Logger logger = Logger.createDefault(); NodeHandle handle = Ros.getInstance().createNodeHandle(); XMLInterface xml = new XMLInterface(logger, new File("ebml.xsd")); MasterSpinner spin = new MasterSpinner(logger, false); BMLRealizer realizer = new BMLRealizer(handle, spin, logger); GazeKnowledge knowledge = new GazeKnowledge(handle, logger, xml, realizer); SituationKnowledge world = new SituationKnowledge(logger, handle); BMLEmitListener emit = new BMLEmitListener(handle, logger); // add in all of the needed positions EntityPosition pos = new EntityPosition(); pos.entity.id = "object-1"; pos.entity.type = Entity.OBJECT; pos.x = -1; pos.y = -2; pos.z = -3; pos.rotation = 0; world.call(pos); pos = new EntityPosition(); pos.entity.id = "object-2"; pos.entity.type = Entity.OBJECT; pos.x = 1; pos.y = 2; pos.z = 3; pos.rotation = 0; world.call(pos); pos = new EntityPosition(); pos.entity.id = "human-face"; pos.entity.type = Entity.OBJECT; pos.x = 20; pos.y = 50; pos.z = 100; pos.rotation = 0; world.call(pos); Performance perf = new Performance(); perf.actor.id = ActorID.ROBOT; perf.begin.value = Flag.TRUE; perf.objects = new ArrayList<Entity>(); perf.objects.add(new Entity()); perf.objects.get(0).id = "human-face"; perf.objects.get(0).type = Entity.FACE; perf.prob = new float[1]; perf.prob[0] = 1.0f; knowledge.call(perf); pos = new EntityPosition(); pos.entity.id = "ROBOT"; pos.entity.type = Entity.UNKNOWN; pos.x = -20; pos.y = -30; pos.z = 0; pos.rotation = 0; world.call(pos); EBMLList list = new EBMLList(logger, xml, "ref-test"); list.getReferences().add( EBMLListTest.createReference(logger, xml, "ref-1", "object-1", 0.85)); list.getReferences().add( EBMLListTest.createReference(logger, xml, "ref-2", "object-2", 0.65)); SyncBlock block = new SyncBlock(new SyncRef("ref-1:end")); block.addRef(new SyncRef("ref-2:start")); list.getOptionalConstraints().addSynchronized(block); list.getSpeeches().add( new SpeechBehavior(logger, "speech", "hi", null, true)); block = new SyncBlock(new SyncRef("speech:end")); block.addRef(new SyncRef("ref-1:start")); list.getRequiredConstraints().addSynchronized(block); ReferencePolicy policy = new ReferencePolicy(logger, emit, new NoPointZone(logger, world, knowledge)); assertTrue(policy.apply(list, knowledge, world, "face0")); assertEquals(0, list.getReferences().size()); world.shutdown(); knowledge.shutdown(); realizer.shutdown(); spin.stop(); spin.joinOldMasters(); handle.shutdown(); } }

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