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

List of all members.

Classes
class	APWaiter
Public Member Functions
APWaiter	apply (EBMLList list, String position, String actor, boolean firstTurn, boolean delay, String delayTarget) throws Exception
void	shutdown ()
	TurnPositionPolicy (NodeHandle handle, Logger logger, BMLEmitListener emit, boolean full) throws RosException
Private Member Functions
void	execBackchannel (EBMLList list)
void	execBeginning (boolean firstTurn, String actor)
void	execDelay (EBMLList list, String delayTarget)
void	execEnd (EBMLList list, String actor)
Private Attributes
final ServiceClient < RobotAdjacencyPair.Request, RobotAdjacencyPair.Response, RobotAdjacencyPair >	apsrv
final Publisher< Speech >	bcpub
final BMLEmitListener	emit
final boolean	full
final Logger	logger
APWaiter	waiter

Detailed Description

The TurnPositionPolicy has one job, to add behaviors corresponding to the actions required to take when completing one turn of an adjacency pair. The actions to take are decided based on if the turn is a first turn and the position of the turn given. The actions taken can be found by the following table:

Position	Policy
Beginning	if first turn: start a Robot Initiated AP
Middle	-
End	Execute MFG after all other actions
Full	Perform Beginning and End Policies

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

Definition at line 90 of file TurnPositionPolicy.java.

Constructor & Destructor Documentation

edu::wpi::hri::gen::policy::TurnPositionPolicy::TurnPositionPolicy	(	NodeHandle	handle,
		Logger	logger,
		BMLEmitListener	emit,
		boolean	full
	)			throws RosException `[inline]`

Create a new Turn Position Policy

Parameters:

	handle	THe node handle to connect the ap client to.
	logger	The logger to base this Policy's logger on.
	emit	The emit object to register emits with.
	full	True to use MFG and BC connection events, false not to.

Exceptions:

RosException

if the publisher to recognition can not be created

Definition at line 113 of file TurnPositionPolicy.java.

Member Function Documentation

APWaiter edu::wpi::hri::gen::policy::TurnPositionPolicy::apply	(	EBMLList	list,
		String	position,
		String	actor,
		boolean	firstTurn,
		boolean	delay,
		String	delayTarget
	)			throws Exception `[inline]`

Determine the actions to complete for the given situation.

Parameters:

	list	The list to add the behaviors to.
	position	The position in the turn of this fragment.
	actor	The actor to whom the fragment is directed.
	firstTurn	True for the first turn of a AP, false otherwise.
	delay	True if this fragment should hold or delay the turn.
	delayTarget	The target to look at if it is a delay, if not provided UP_RIGHT is used.

Returns:: The APWaiter which will return the response of the actor if the AP should be waited for.

Exceptions:

Exception

If the parameters given are invalid

Definition at line 160 of file TurnPositionPolicy.java.

void edu::wpi::hri::gen::policy::TurnPositionPolicy::execBackchannel ( EBMLList list ) [inline, private]

Definition at line 236 of file TurnPositionPolicy.java.

void edu::wpi::hri::gen::policy::TurnPositionPolicy::execBeginning	(	boolean	firstTurn,
		String	actor
	)			`[inline, private]`

The only thing for this method to complete is to cre if (interest != null) { HumanAdjacencyPair ap = new HumanAdjacencyPair(); ap.action = res.action; interest.call(ap); }ate a new APWaiter which will wait for the AP to complete. This is done for Beginning and Full turn positions.

Definition at line 201 of file TurnPositionPolicy.java.

void edu::wpi::hri::gen::policy::TurnPositionPolicy::execDelay	(	EBMLList	list,
		String	delayTarget
	)			`[inline, private]`

Definition at line 247 of file TurnPositionPolicy.java.

void edu::wpi::hri::gen::policy::TurnPositionPolicy::execEnd	(	EBMLList	list,
		String	actor
	)			`[inline, private]`

This method must create the appropriate behaviors for an end of turn position. This means firing an MFG and creating the behaviors which go along with an MFG.

Parameters:

list

The list to append the behaviors to.

Definition at line 214 of file TurnPositionPolicy.java.

void edu::wpi::hri::gen::policy::TurnPositionPolicy::shutdown ( ) [inline]

Shutdown this policy and it's connection to recognition.

Definition at line 133 of file TurnPositionPolicy.java.