edu::wpi::hri::gen::comm::GazeKnowledge Class Reference

Inheritance diagram for edu::wpi::hri::gen::comm::GazeKnowledge:

[legend]

List of all members.

Classes
class	LockListener
Public Member Functions
synchronized void	addListener (GazeListener gl)
void	call (Performance perf)
synchronized void	gazeChanged (String target, boolean face, boolean lock)
	GazeKnowledge (NodeHandle handle, Logger logger, XMLInterface xml, BMLRealizer realizer) throws RosException
String	getTarget ()
boolean	isLocked ()
void	setBottomListener (GazeListener gl)
void	shutdown ()
boolean	trySetGaze (String target)
Private Attributes
GazeListener	bottomListener
final Subscriber< Flag >	gazeLockSub
final List< GazeListener >	listeners
boolean	locked
final Logger	logger
final Subscriber< Performance >	lookSub
final BMLRealizer	realizer
String	target
final Publisher< Entity >	triedPub
final XMLInterface	xml

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Detailed Description

The Gaze Knowledge class maintains the information about where the robot is looking and whether the current gaze is locked. An outside node can call the generation/set_gaze service to change the gaze to a position, lock the gaze if the outside node so chooses, and issue a timeout to change back to default behaviors. The default behavior policy is known by the ME advisor, and so the MEAdvisor must listen for changes of gaze on this object. This object also subscribes to the performing gaze as control is required to publish.

Author:

Aaron Holroyd (aholroyd (at) wpi (dot) edu)

Definition at line 65 of file GazeKnowledge.java.

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Constructor & Destructor Documentation

edu::wpi::hri::gen::comm::GazeKnowledge::GazeKnowledge	(	NodeHandle	handle,
		Logger	logger,
		XMLInterface	xml,
		BMLRealizer	realizer
	)			throws RosException [inline]

Create a new gaze knowledge object which knows how to handle change gaze requests and that will maintain the known state of the gaze for generation.

Parameters:

	handle	the node handle to provide the set_gaze service and subscribe to performing/look
	logger	The logger to log to
	xml	The xml interface to convert behaviors to bml strings
	realizer	The realizer to change the gaze through

Definition at line 95 of file GazeKnowledge.java.

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Member Function Documentation

synchronized void edu::wpi::hri::gen::comm::GazeKnowledge::addListener

(

GazeListener

gl

)

[inline]

Add a listener to changes of gaze status. This includes target changes and lock changes.

Parameters:

gl

the new gaze listener to inform of changes later.

Definition at line 158 of file GazeKnowledge.java.

void edu::wpi::hri::gen::comm::GazeKnowledge::call

(

Performance

perf

)

[inline]

Definition at line 215 of file GazeKnowledge.java.

synchronized void edu::wpi::hri::gen::comm::GazeKnowledge::gazeChanged	(	String	target,
		boolean	face,
		boolean	lock
	)			[inline, virtual]

This method is a helper method for automatically informing the listeners of gaze changes.

Parameters:

	target	The new target
	face	True if the target is a face
	lock	True if the gaze is locked.

Implements edu::wpi::hri::gen::comm::GazeListener.

Definition at line 207 of file GazeKnowledge.java.

String edu::wpi::hri::gen::comm::GazeKnowledge::getTarget

(

)

[inline]

Get the id of the target which is currently being looked at.

Returns:

The target id.

Definition at line 129 of file GazeKnowledge.java.

boolean edu::wpi::hri::gen::comm::GazeKnowledge::isLocked

(

)

[inline]

Returns:

True if another module has locked the gaze.

Definition at line 136 of file GazeKnowledge.java.

void edu::wpi::hri::gen::comm::GazeKnowledge::setBottomListener

(

GazeListener

gl

)

[inline]

Set the last gaze listener so that it can be informed to update all of the gazes.

Parameters:

gl

The last on the food chain gaze listener.

Definition at line 147 of file GazeKnowledge.java.

void edu::wpi::hri::gen::comm::GazeKnowledge::shutdown

(

)

[inline]

Shutdown the gaze knowledge by closing the services and subscribers

Definition at line 118 of file GazeKnowledge.java.

boolean edu::wpi::hri::gen::comm::GazeKnowledge::trySetGaze

(

String

target

)

[inline]

Attempt to set the gaze of the Robot to the given target. Return true if the gaze was set properly, false if it was not.

Parameters:

target

The new target to look at.

Returns:

True for success, false for failure.

Reimplemented from edu::wpi::hri::gen::comm::GazeListener.

Definition at line 171 of file GazeKnowledge.java.

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Member Data Documentation

GazeListener edu::wpi::hri::gen::comm::GazeKnowledge::bottomListener [private]

Definition at line 76 of file GazeKnowledge.java.

final Subscriber<Flag> edu::wpi::hri::gen::comm::GazeKnowledge::gazeLockSub [private]

Definition at line 68 of file GazeKnowledge.java.

final List<GazeListener> edu::wpi::hri::gen::comm::GazeKnowledge::listeners [private]

Definition at line 75 of file GazeKnowledge.java.

boolean edu::wpi::hri::gen::comm::GazeKnowledge::locked [private]

Definition at line 74 of file GazeKnowledge.java.

final Logger edu::wpi::hri::gen::comm::GazeKnowledge::logger [private]

Definition at line 72 of file GazeKnowledge.java.

final Subscriber<Performance> edu::wpi::hri::gen::comm::GazeKnowledge::lookSub [private]

Definition at line 69 of file GazeKnowledge.java.

final BMLRealizer edu::wpi::hri::gen::comm::GazeKnowledge::realizer [private]

Definition at line 78 of file GazeKnowledge.java.

String edu::wpi::hri::gen::comm::GazeKnowledge::target [private]

Reimplemented from edu::wpi::hri::gen::comm::GazeListener.

Definition at line 73 of file GazeKnowledge.java.

final Publisher<Entity> edu::wpi::hri::gen::comm::GazeKnowledge::triedPub [private]

Definition at line 70 of file GazeKnowledge.java.

final XMLInterface edu::wpi::hri::gen::comm::GazeKnowledge::xml [private]

Definition at line 77 of file GazeKnowledge.java.

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The documentation for this class was generated from the following file:

• engagement_generation/src/edu/wpi/hri/gen/comm/GazeKnowledge.java