Project: engagement_recognition License: BSD Dependencies: engagement_msgs engagement_srvs roscpp Used by: None All Packages

engagement_recognition/src/recognition/recognizers/directed_gaze/dg_robot_directing_state.cpp Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ // @author Brett Ponsler (bponsler (at) wpi (dot) edu) #include "dg_robot_directing_state.h" #include "../../events/event_factory.h" #include "../../lib/engagement_params.h" #include "../../objects/engagement_objects.h" DGRobotDirectingState::DGRobotDirectingState(): State(DGRobotDirectingState::type(), "", NULL) { // Set the logger based on this type of recognizer this->setLogger(EngagementParams::getStateTag(DGRobotDirectingState::type())); this->warn("Initialized with an invalid actor, and EventSink."); } DGRobotDirectingState::DGRobotDirectingState(std::string actor, EventSink *sink): State(DGRobotDirectingState::type(), actor, sink) { // Set the logger based on this type of recognizer this->setLogger(sink->getLogger(), EngagementParams::getStateTag(DGRobotDirectingState::type())); } DGRobotDirectingState::~DGRobotDirectingState() { } Event DGRobotDirectingState::received(std::string topic, engagement_srvs::RobotMutualFacialGaze::Request *message) { if (topic == engagement::RECOGNITION_NAMESPACE + "/" + engagement::ROBOT_NAMESPACE + "/" + engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC) return this->recogMFGazeCallback(message); return Event(); } Event DGRobotDirectingState::received(std::string topic, engagement_msgs::ActorIDStatus *message) { if (topic == engagement::RECOGNITION_NAMESPACE + "/" + engagement::HUMAN_NAMESPACE + "/" + engagement::RECOG_STATUS_TOPIC.c_str()) return this->engageStatusCallback(message); return Event(); } Event DGRobotDirectingState::received(std::string topic, engagement_msgs::Performance *message) { if (topic == engagement::PERFORMING_NAMESPACE + "/" + engagement::PERFORMING_LOOK_TOPIC) return this->performingLookCallback(message); else if (topic == engagement::VISION_NAMESPACE + "/" + engagement::PERFORMING_LOOK_TOPIC) return this->visionLookCallback(message); else if (topic == engagement::VISION_NAMESPACE + "/" + engagement::PERFORMING_POINT_TOPIC) return this->visionPointCallback(message); return Event(); } Event DGRobotDirectingState::received(std::string topic, engagement_srvs::RobotDirectedGaze::Request *message) { if (topic == engagement::RECOGNITION_NAMESPACE + "/" + engagement::ROBOT_NAMESPACE + "/" + engagement::RECOG_DIRECTED_GAZE_TOPIC) return this->recogDirGazeCallback(message); return Event(); } Event DGRobotDirectingState::engageStatusCallback(const engagement_msgs::ActorIDStatus *msg) { this->debug(25, "Entered %s %s %s", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::HUMAN_NAMESPACE.c_str(), engagement::RECOG_STATUS_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::ActorIDStatus temp_msg = *msg; // Cast ourselves into a state State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // Make sure the actor in the message is the same // and that the message flag is FALSE (unengaged) if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.status.value == bml_msgs::Flag::FALSE) { // The actor for this recognizer has become unengaged // the connection event has failed. this->debug(7, "Received false %s message.", engagement::RECOG_STATUS_TOPIC.c_str()); // Create the failure event return EventFactory::failed(); } } return Event(); } Event DGRobotDirectingState::performingLookCallback(const engagement_msgs::Performance *msg) { this->debug(25, "Entered %s %s", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Grab the objects from the entities in the message std::vector<std::string> objects = objects::getObjectsFromEntities(temp_msg.objects); // Make sure the message done field is BEGIN (begin look) // and that the objects being intersect the objects we're looking at if (temp_msg.actor.id == temp_msg.actor.ROBOT && objects::areObjects(temp_msg.objects) && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { // Failure is contingent upon whether or not the objects are different if (!this->compareAdditional(objects, EventSink::CONTAINS)) { this->debug(7, "Received %s %s message.", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); // Create the failure event return EventFactory::failed(); } } } return Event(); } Event DGRobotDirectingState::recogDirGazeCallback(const engagement_srvs::RobotDirectedGaze::Request *msg) { this->debug(25, "Entered %s %s", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_DIRECTED_GAZE_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_srvs::RobotDirectedGaze::Request temp_msg = *msg; // Cast ourselves into a State State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // Make sure the actors are NOT the same and that the message FLAG is TRUE // and that the objects being deleted intersects the // objects we're looking at if (actor != NULL && temp_msg.actor.id != actor->getID()) { this->debug(7, "Received %s %s message.", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_DIRECTED_GAZE_TOPIC.c_str()); // Create the robot initiated event return EventFactory::robotInitiated(); } } return Event(); } Event DGRobotDirectingState::recogMFGazeCallback(const engagement_srvs::RobotMutualFacialGaze::Request *msg) { this->debug(25, "Entered %s %s", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_srvs::RobotMutualFacialGaze::Request temp_msg = *msg; // Cast ourselves into a State State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // Make sure the actors are NOT the same and that the objects being // deleted intersects the objects we're looking at if (actor != NULL && temp_msg.actor.id != actor->getID()) { // Now, we only fail if the robot is NOT pointing at the same objects // Compare the pointing for BOTH arms if (!this->compareAdditional(Robot::getPointing(), EventSink::CONTAINS)) { this->debug(7, "Received %s %s message", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC.c_str()); // Create the failure event return EventFactory::failed(); } } } return Event(); } Event DGRobotDirectingState::visionLookCallback(const engagement_msgs::Performance *msg) { this->debug(25, "Entered %s %s", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Cast ourselves into a State State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); std::vector<std::string> objects = objects::getObjectsFromEntities(temp_msg.objects); // Make sure the actors are the same and that the begin // flag is BEGIN (begin look) if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { // Actor is starting to look, only change if the objects are the same if (this->compareAdditional(objects, EventSink::CONTAINS)) { this->debug(7, "Received %s %s message.", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); // Create the shared gaze event return EventFactory::sharedGaze(); } else { this->debug(7, "Received %s %s message.", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); // Create the shared gaze event return EventFactory::humanInitiated(); } } } return Event(); } Event DGRobotDirectingState::visionPointCallback(const engagement_msgs::Performance *msg) { this->debug(25, "Entered %s %s", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_POINT_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Cast ourselves into a State State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); std::vector<std::string> objects = objects::getObjectsFromEntities(temp_msg.objects); // Make sure the actors are the same and that the begin // flag is BEGIN (begin point) if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { // Actor is starting to point, we only change state in the event that // the objects are different if (!this->compareAdditional(objects, EventSink::CONTAINS)) { this->debug(7, "Received %s %s message.", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_POINT_TOPIC.c_str()); // Actor is looking at different objects. Move to human initiated return EventFactory::humanInitiated(); } } } return Event(); } std::string DGRobotDirectingState::type() { return "dg_robot_directing"; }

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engagement_recognition
Author(s): Brett Ponsler (bponsler (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:48 2011