engagement_recognition: engagement_recognition/src/recognition/handlers/handler.h Source File

00001 /*
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00034 #ifndef _HANDLER_H
00035 #define _HANDLER_H
00036 
00037 #include "../events/event_sink.h"
00038 #include "../lib/engagement_declarations.h"
00039 #include "../recognizers/recognizer.h"
00040 #include "../response/service_response.h"
00041 #include "../response/ap_service_response.h"
00042 
00043 #include <map>
00044 
00045 // Declare forward declarations for the types being used
00046 class Actor;
00047 class Robot;
00048 class Recognizer;
00049 
00057 class Handler : public EventSink
00058 {
00059 protected:
00061   std::string actor_;
00062 
00064   Recognizer *mfg_recognizer_;
00065 
00067   Recognizer *ap_recognizer_;
00068 
00070   Recognizer *bc_recognizer_;
00071 
00073   std::map<std::string, Recognizer*> dg_recognizers_;
00074 public:
00078   virtual ~Handler();
00079 
00083   Handler();
00084 
00092   Handler(std::string actor, EventSink *parent);
00093 
00100   void received(std::string topic, ros::Message *message);
00101 
00109   virtual ServiceResponse dirGazeService(ros::Message *message,
00110                                          std::vector<std::string> objects) = 0;
00111 
00118   virtual ServiceResponse mfGazeService(ros::Message *message) = 0;
00119 
00126   virtual APServiceResponse adjPairService(ros::Message *message) = 0;
00127 
00133   void setActor(std::string actor);
00134 
00140   std::string getActor();
00141 
00148   Recognizer *getDirectedGazeRecognizer(std::string object);
00149 
00155   Recognizer *getMutualFacialGazeRecognizer();
00156 
00162   Recognizer *getAdjacencyPairRecognizer();
00163 
00169   Recognizer *getBackchannelRecognizer();
00170 
00176   virtual void updateDirectedGazeRecognizer(std::string object) = 0;
00177 
00183   void addDirectedGazeRecognizer(Recognizer *rec);
00184 
00190   void setMutualFacialGazeRecognizer(Recognizer *rec);
00191 
00197   void setAdjacencyPairRecognizer(Recognizer *rec);
00198 
00204   void setBackchannelRecognizer(Recognizer *rec);
00205 
00211   void addEvent(Event event);
00212 };
00213 
00214 #endif // _HANDLER_H