engagement_recognition: engagement_recognition/src/recognition/actors/actor.h Source File

00001 /*
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00034 #ifndef _ACTOR_H
00035 #define _ACTOR_H
00036 
00037 // Include vectors, strings and the handler object
00038 #include <vector>
00039 #include <string>
00040 #include "../handlers/handler.h"
00041 #include "../lib/engagement_declarations.h"
00042 #include "../logger/loggable.h"
00043 #include "../semaphores/semaphore.h"
00044 
00045 // Include the service responses
00046 #include "../response/service_response.h"
00047 #include "../response/ap_service_response.h"
00048 
00049 // Include the timeline class
00050 #include "../statistics/timeline.h"
00051 
00052 class Handler;
00053 
00061 class Actor : public Loggable
00062 {
00063 private:
00065   ConsoleLogger *logger_;
00066 
00068   Semaphore *semaphore_;
00069 
00071   bool engaged_;
00072 
00074   std::string id_;
00075 
00077   bool facial_gaze_;
00078 
00080   bool speaking_;
00081 
00083   std::vector<std::string> looking_;
00084 
00086   std::vector<std::string> pointing_;
00087 
00089   Handler *handler_;
00090 
00092   Timeline *statistics_;
00093 
00097   void createSemaphores();
00098 public:
00102   ~Actor();
00103 
00107   Actor();
00108 
00114   Actor(std::string id);
00115 
00122   void received(std::string topic, ros::Message *message);
00123 
00132   void updateDirGazeRecognizers(std::vector<std::string> objects);
00133 
00141   ServiceResponse dirGazeService(ros::Message *message,
00142                                  std::vector<std::string> objects);
00143 
00150   ServiceResponse mfGazeService(ros::Message *message);
00151 
00158   APServiceResponse adjPairService(ros::Message *message);
00159 
00165   void setHandler(Handler *handler);
00166 
00172   Handler *getHandler();
00173 
00179   void setEngaged(bool engaged);
00180 
00186   bool getEngaged();
00187 
00193   std::string getID();
00194 
00201   bool isFacialGaze();
00202 
00208   bool isSpeaking();
00209 
00220   bool isLooking(std::vector<std::string> objects);
00221 
00232   bool isPointing(std::vector<std::string> objects);
00233 
00239   std::vector<std::string> getLooking();
00240 
00246   std::vector<std::string> getPointing();
00247 
00255   bool setFacialGaze(bool start);
00256 
00263   bool setSpeaking(bool start);
00264 
00272   bool setLooking(std::vector<std::string> objects, bool start);
00273 
00281   bool setPointing(std::vector<std::string> objects, bool start);
00282 
00293   void addEvent(std::string type, bool success, unsigned long start,
00294                 unsigned long delay, unsigned long duration, std::string data);
00295 
00305   std::vector<unsigned long> getStatistics();
00306 };
00307 
00308 #endif //_ACTOR_H