engagement_recognition: engagement_recognition/src/recognition/recognizers/mutual_facial_gaze/mfg_robot_waiting

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, Worcester Polytechnic Institute
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Worcester Polytechnic Institute. nor the names
00018  *     of its contributors may be used to endorse or promote products
00019  *     derived from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 #ifndef _MFG_ROBOT_WAITING_STATE_H
00035 #define _MFG_ROBOT_WAITING_STATE_H
00036 
00037 // Include the State class
00038 #include "../../states/state.h"
00039 
00047 class MFGRobotWaitingState : public State
00048 {
00049 private:
00050 public:
00054   MFGRobotWaitingState();
00055 
00063   MFGRobotWaitingState(std::string actor, EventSink *sink);
00064 
00065   ~MFGRobotWaitingState();
00066 
00072   static std::string type();
00073 
00081   Event received(std::string topic, engagement_msgs::ActorIDStatus *message);
00082 
00090   Event received(std::string topic, engagement_msgs::Performance *message);
00091 
00099   Event received(std::string topic,
00100                  engagement_srvs::RobotDirectedGaze::Request *message);
00101 
00108   Event engageStatusCallback(const engagement_msgs::ActorIDStatus *msg);
00109 
00116   Event performingLookCallback(const engagement_msgs::Performance *msg);
00117 
00124   Event recogDirGazeCallback(const engagement_srvs::RobotDirectedGaze::Request *msg);
00125 
00132   Event visionLookCallback(const engagement_msgs::Performance *msg);
00133 
00140   Event visionFacialGazeCallback(const engagement_msgs::Performance *msg);
00141 };
00142 
00143 #endif // _MFG_ROBOT_WAITING_STATE_H
engagement_recognition/src/recognition/recognizers/mutual_facial_gaze/mfg_robot_waiting_state.h
