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

engagement_recognition/src/recognition/recognizers/recognizer.h 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. */ #ifndef _ENGAGEMENT_RECOGNIZER_H #define _ENGAGEMENT_RECOGNIZER_H #include "../events/event_sink.h" #include "../actors/actor.h" #include "../lib/engagement_macros.h" // Include actions and service responses #include "../response/action.h" #include "../response/service_response.h" // Include the headers for threads and semaphores #include <boost/thread.hpp> #include "../semaphores/semaphore.h" // include the state class and the state factory #include "../states/state.h" #include "../states/state_factory.h" // Use the initiator namespace for the Initiator enumeration namespace initiator { typedef enum { NO_INIT = 0, ROBOT = 1, HUMAN = 2 } Initiator; } // initiator namespace class Recognizer : public EventSink { protected: bool succeeded_; Semaphore *state_semaphore_; State *state_; initiator::Initiator initiator_; std::string actor_; double max_delay_; Semaphore *semaphore_; ServiceResponse status_; Action action_; unsigned long start_time_; unsigned long end_time_; unsigned long start_delay_; unsigned long end_delay_; std::string type_; public: virtual ~Recognizer(); Recognizer(); Recognizer(std::string type, EventSink *sink); Recognizer(State *state, std::string type, std::string actor, EventSink *sink); void received(std::string topic, ros::Message *message); void callService(boost::barrier *barrier); void castEvent(Event event); void setStartState(); void setState(factory::StateType type); void succeed(Action action); const char *getStateName(); void initialize(initiator::Initiator initiator); virtual bool compareAdditional(std::vector<std::string> additional, std::string compare); virtual std::string getObject(); virtual void transition(Event event) = 0; void complete(bool success); void setActor(std::string actor); Actor *getActor(); ServiceResponse getStatus(); double getMaxDelayParam(ros::NodeHandle *handle, double def); void setAction(Action action); Action getAction(); void block(); void unblock(ServiceResponse status, Action action); }; #endif // _ENGAGEMENT_RECOGNIZER_H

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