engagement_recognition: engagement_recognition/src/recognition/actors/robot.h Source File

00001 /*
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00034 #ifndef _ROBOT_H
00035 #define _ROBOT_H
00036 
00037 #include <vector>
00038 #include <string>
00039 #include "../logger/loggable.h"
00040 #include "../semaphores/semaphore.h"
00041 
00043 #define NO_FACIAL_GAZE   "NONE"
00044 
00052 class Robot : public Loggable
00053 {
00054 private:
00056   ConsoleLogger *logger_;
00057 
00059   Semaphore *semaphore_;
00060 
00062   bool speaking_;
00063 
00065   std::string facial_gaze_;
00066 
00068   std::vector<std::string> looking_;
00069 
00071   std::vector<std::string> pointing_;
00072 
00074   bool waiting_;
00075 
00077   static Robot *instance_;
00078 
00082   Robot();
00083 
00089   static Robot* getRobot();
00090 
00094   void createSemaphores();
00095 public:
00099   static void destroy();
00100 
00106   static bool isSpeaking();
00107 
00115   static bool isFacialGaze(std::string actor);
00116 
00122   static std::vector<std::string> getLooking();
00123 
00129   static std::vector<std::string> getPointing();
00130 
00140   static bool isLooking(std::vector<std::string> objects);
00141 
00151   static bool isPointing(std::vector<std::string> objects);
00152 
00158   static void setSpeaking(bool start);
00159 
00166   static void setFacialGaze(bool start, std::string actor);
00167 
00174   static void setLookAt(bool start, std::vector<std::string> objects);
00175 
00182   static void setPointAt(bool start, std::vector<std::string> objects);
00183 
00187   static void donePoint();
00188 
00195   static bool isWaiting();
00196 
00203   static void setWaiting(bool state);
00204 };
00205 
00206 #endif // _ROBOT_H