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

engagement_recognition/src/recognition/recognizers/mutual_facial_gaze/mutual_facial_gaze_recognizer.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 "mutual_facial_gaze_recognizer.h" #include "../../events/event_factory.h" #include "../../lib/engagement_params.h" #include "../../lib/engagement_macros.h" MutualFacialGazeRecognizer::MutualFacialGazeRecognizer(): Recognizer(MutualFacialGazeRecognizer::type(), NULL) { // Set the logger based on this type of recognizer this->setLogger(EngagementParams::getMFGTag()); // Load the max delay parameter this->getMaxDelayParam(EngagementParams::getConfMFGazeHandle(), 2.0); // Create the start state, and set the state to it this->setStartState(); // Grab the recognition/human NodeHandle ros::NodeHandle *recog_human = EngagementParams::getRecogHumanHandle(); // Advertise the human initiated topic hi_mf_gaze_pub_ = recog_human->advertise<engagement_msgs::HumanMutualFacialGaze>( engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC, MAX_BUFFER); this->warn("Initialized recognizer to an empty actor."); } MutualFacialGazeRecognizer::MutualFacialGazeRecognizer(std::string actor, EventSink *sink): Recognizer(MutualFacialGazeRecognizer::type(), sink) { // Set the logger based on this type of recognizer this->setLogger(sink->getLogger(), EngagementParams::getMFGTag()); // Load the max delay parameter this->getMaxDelayParam(EngagementParams::getConfMFGazeHandle(), 2.0); // Set the actor for this recognizer // Do this BEFORE setting the state setActor(actor); // Grab the recognition/human NodeHandle ros::NodeHandle *recog_human = EngagementParams::getRecogHumanHandle(); // Advertise the human initiated topic hi_mf_gaze_pub_ = recog_human->advertise<engagement_msgs::HumanMutualFacialGaze>( engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC, MAX_BUFFER); // Create the start state and set the state to it this->setStartState(); } void MutualFacialGazeRecognizer::initialize(initiator::Initiator initiator) { Recognizer *rec = (Recognizer*)this; // If the human was the initiator, send a human initiated message if (initiator == initiator::HUMAN) { // Grab the internal node handle ros::NodeHandle *n = EngagementParams::getConfMFGazeHandle(); // Grab the max delay from the parameter server double max_delay = this->getMaxDelayParam(n, 2.0); // Only send human initiated events if the recognizer is not degraded if (!EngagementParams::isDegraded()) { // Create the human initiated mutual facial gaze message engagement_msgs::HumanMutualFacialGaze mfg_msg; // Set the actor, the timeout duration, and the // human's utterance for this message mfg_msg.actor.id = this->getActor()->getID(); mfg_msg.timeout = max_delay; this->debug(5, "Publishing human initiated event."); // Publish the message this->hi_mf_gaze_pub_.publish(mfg_msg); } } // Initialize this recognizer with the initiator rec->initialize(initiator); } void MutualFacialGazeRecognizer::transition(Event event) { // Grab the additional vector from the event std::vector<std::string> event_additional = event.getAdditional(); // Check the event cases if (EventFactory::isRobotInitiated(event)) { this->debug(8, "ROBOT INITIATED EVENT."); // Unblock the semaphore and enter the robot waiting state this->unblock(ServiceResponse::cycle(), Action::noAction()); this->setState(factory::MFG_ROBOT_WAITING); // Initialize the connection event this->initialize(initiator::ROBOT); this->start_delay_ = CURRENT_TIME; } else if (EventFactory::isHumanInitiated(event)) { this->debug(8, "HUMAN INITIATED EVENT."); // Unblock the semaphore and enter the human waiting state this->unblock(ServiceResponse::cycle(), Action::noAction()); this->setState(factory::MFG_HUMAN_WAITING); // Initialize the connection event this->initialize(initiator::HUMAN); this->start_delay_ = CURRENT_TIME; } else if (EventFactory::isSharedGaze(event)) { this->debug(8, "SHARED GAZE EVENT."); // If we're currently in the start state if (this->getStateName() != StateFactory::getType(factory::MFG_START)) { // If we were given an initiator, set it (should be the first element) if (event_additional.size() == 1) { // Initialize the recognizer, with human or robot accordingly this->initialize((event_additional.at(0) == "ROBOT" ? initiator::ROBOT : initiator::HUMAN)); } } else if (this->getStateName() == StateFactory::getType(factory::MFG_START)) { // Set the start delay time to now, since there should be no delay this->start_time_ = CURRENT_TIME; this->start_delay_ = this->start_time_; } // Enter the mutual facial gaze state this->setState(factory::MFG_MUTUAL_FACIAL_GAZE); this->end_delay_ = CURRENT_TIME; // We succeed in this case (look always succeeds MFG) this->succeed(Action::look()); } else if (EventFactory::isCompleted(event)) { this->debug(8, "COMPLETED EVENT."); // Move to the start state this->setStartState(); // Complete the connection event successfully this->complete(true); } else if (EventFactory::isFailed(event)) { this->debug(8, "FAILED EVENT."); // Move to the start state this->setStartState(); // Complete the connection event unsuccessfully this->complete(false); } } std::string MutualFacialGazeRecognizer::type() { return engagement::MUTUAL_FACIAL_GAZE_TYPE; }

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