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

engagement_recognition/src/recognition/rnode/rnode.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 disclAaimer. * * 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 _RNODE_H #define _RNODE_H #include <ros/ros.h> #include <map> // Include topics and message types #include "../lib/engagement_macros.h" // Include the Actor and Robot classes #include "../actors/actor.h" #include "../actors/robot.h" #include "../events/event_sink.h" #include "../events/event.h" class RNode : public EventSink { private: pthread_t *master_thread_; std::vector<pthread_t*> old_threads_; double window_size_; unsigned long shared_gaze_start_; Duration shared_gaze_; ros::ServiceServer recog_statistics_srv_; ros::ServiceServer recog_dir_gaze_srv_; ros::ServiceServer recog_mf_gaze_srv_; ros::ServiceServer recog_adjacency_pair_srv_; ros::Subscriber performing_look_sub_; ros::Subscriber performing_point_sub_; ros::Subscriber performing_shake_sub_; ros::Subscriber performing_nod_sub_; ros::Subscriber performing_ext_action_sub_; ros::Subscriber performing_utterance_sub_; ros::Subscriber vision_face_sub_; ros::Publisher status_pub_; static void *spin(void *param); public: ~RNode(); RNode(); RNode(EventSink *parent); void subscribe(); void advertise(); void startSharedGaze(); void endSharedGaze(); void relayToActors(std::string topic, ros::Message *message); void castEvent(Event event); bool compareAdditional(std::vector<std::string> additional, std::string compare); bool foundActor(std::string id); bool lostActor(std::string id); Actor* findActor(std::string id); bool recogStatisticsService(engagement_srvs::ActorStatistics::Request &req, engagement_srvs::ActorStatistics::Response &res); bool recogDirGazeService(engagement_srvs::RobotDirectedGaze::Request &req, engagement_srvs::RobotDirectedGaze::Response &res); bool recogMFGazeService(engagement_srvs::RobotMutualFacialGaze::Request &req, engagement_srvs::RobotMutualFacialGaze::Response &res); bool recogAdjacencyPairService(engagement_srvs::RobotAdjacencyPair::Request &req, engagement_srvs::RobotAdjacencyPair::Response &res); void performingLookCallback(const engagement_msgs::PerformanceConstPtr& msg); void performingShakeCallback(const engagement_msgs::PerformanceConstPtr& msg); void performingNodCallback(const engagement_msgs::PerformanceConstPtr& msg); void performingExtendedActionCallback(const engagement_msgs::PerformanceConstPtr& msg); void performingPointCallback(const engagement_msgs::PerformanceConstPtr& msg); void performingUtteranceCallback(const engagement_msgs::SpeechConstPtr& msg); void visionFacialGazeCallback(const engagement_msgs::PerformanceConstPtr& msg); void visionLookCallback(const engagement_msgs::PerformanceConstPtr& msg); void visionPointCallback(const engagement_msgs::PerformanceConstPtr& msg); void visionShakeCallback(const engagement_msgs::PerformanceConstPtr& msg); void visionNodCallback(const engagement_msgs::PerformanceConstPtr& msg); void visionExtendedActionCallback(const engagement_msgs::PerformanceConstPtr& msg); void visionFaceCallback(const engagement_msgs::ActorIDStatusConstPtr& msg); void spawnThread(); bool masterExists(); void updateOldThreads(); #define RNODE_SUBSCRIBE(h, t, c) h->subscribe(engagement::t, MAX_BUFFER, \ c, this) #define RNODE_SERVICE(h, t, c) h->advertiseService(engagement::t, c, this) #define RNODE_ADVERTISE(handle, type, topic) \ handle->advertise<engagement_msgs::type>(topic, MAX_BUFFER) }; #endif // _RNODE_H

---

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