edu::wpi::hri::gen::policy::GlancePolicy Class Reference

Inheritance diagram for edu::wpi::hri::gen::policy::GlancePolicy:

Public Member Functions
void	gazeChanged (String target, boolean face, boolean lock)
	GlancePolicy (NodeHandle handle, Logger logger, GazeKnowledge gaze, GazeListener next)
void	shutdown ()
Private Member Functions
void	applyGlance ()
TimerTask	createTask ()
int	findMTBCE ()
Private Attributes
String	lastFace
boolean	lastGazeWasFace
final Logger	logger
final ServiceClient < ActorStatistics.Request, ActorStatistics.Response, ActorStatistics >	statsSrv
Timer	timer

Detailed Description

The glance policy is used to ensure that the robot looks at the participant at a regular interval. This interval is defined in the GenerationParams object by the GLANCE_DELAY_MS and GLANCE_DURATION_MS parameters. They define the time between looking at the face, and the minimum glance time, respectively.

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

Definition at line 59 of file GlancePolicy.java.

Constructor & Destructor Documentation

edu::wpi::hri::gen::policy::GlancePolicy::GlancePolicy	(	NodeHandle	handle,
		Logger	logger,
		GazeKnowledge	gaze,
		GazeListener	next
	)			`[inline]`

Create a new Glance Policy for ensuring that the robot looks at the participant at a regular interval. This policy is created at the beginning of the node, and does not die, since it will ensure that the glancing occurs.

Parameters:

	logger	The logger to log information to.
	gaze	The knowledge of the current gaze at all times.
	next	The next gazeListener which can override this one.

Definition at line 80 of file GlancePolicy.java.

Member Function Documentation

void edu::wpi::hri::gen::policy::GlancePolicy::applyGlance ( ) [inline, private]

Definition at line 112 of file GlancePolicy.java.

TimerTask edu::wpi::hri::gen::policy::GlancePolicy::createTask ( ) [inline, private]

Definition at line 92 of file GlancePolicy.java.

int edu::wpi::hri::gen::policy::GlancePolicy::findMTBCE ( ) [inline, private]

Definition at line 160 of file GlancePolicy.java.

void edu::wpi::hri::gen::policy::GlancePolicy::gazeChanged	(	String	target,
		boolean	face,
		boolean	lock
	)			`[inline, virtual]`

The gazeChanged method is called when any change of status of the gaze occurs. The GazeKnowledge object will call each listener in the order in which they were added.

Parameters: