Statistics
| Branch: | Tag: | Revision:

hlrc / client / cpp / src / Middleware.cpp @ 02461ac8

History | View | Annotate | Download (2.461 KB)

1
/*
2
* This file is part of hlrc
3
*
4
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
5
* http://opensource.cit-ec.de/projects/hlrc
6
*
7
* This file may be licensed under the terms of the
8
* GNU General Public License Version 3 (the ``GPL''),
9
* or (at your option) any later version.
10
*
11
* Software distributed under the License is distributed
12
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
13
* express or implied. See the GPL for the specific language
14
* governing rights and limitations.
15
*
16
* You should have received a copy of the GPL along with this
17
* program. If not, go to http://www.gnu.org/licenses/gpl.html
18
* or write to the Free Software Foundation, Inc.,
19
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
20
*
21
* The development of this software was supported by the
22
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
23
* The Excellence Cluster EXC 277 is a grant of the Deutsche
24
* Forschungsgemeinschaft (DFG) in the context of the German
25
* Excellence Initiative.
26
*
27
*/
28

    
29
#include "Middleware.h"
30

    
31
using namespace std;
32

    
33
Middleware::Middleware(string scope){
34
    base_scope = scope;
35
}
36

    
37
void Middleware::set_default_emotion(RobotEmotion e, bool blocking){
38
    defaultEmotion = e;
39
    publish_default_emotion(defaultEmotion, blocking);
40
}
41

    
42
void Middleware::set_current_emotion(RobotEmotion e, bool blocking){
43
    currentEmotion = e;
44
    publish_current_emotion(currentEmotion, blocking);
45
}
46

    
47
RobotEmotion Middleware::get_current_emotion(){
48
    return currentEmotion;
49
}
50

    
51
RobotEmotion Middleware::get_default_emotion(){
52
    return defaultEmotion;
53
}
54

    
55
void Middleware::set_gaze_target(RobotGaze target, bool blocking){
56
    //printf("> Middleware::set_gaze_target({%4.1f %4.1f %4.1f %4.1f}, %s)\n",target.pan,target.roll,target.tilt,target.vergence,blocking?"BLOCKING":"NONBLOCKING");
57
    gazeTarget = target;
58
    publish_gaze_target(gazeTarget, blocking);
59
}
60

    
61
void Middleware::set_lookat_target(float x, float y, float z, const string frame_id, bool blocking, float roll)
62
{
63
    publish_lookat_target(x,y,z, frame_id, blocking, roll);
64
}
65

    
66
void Middleware::set_mouth_target(RobotMouth target, bool blocking){
67
    mouthTarget = target;
68
    publish_mouth_target(mouthTarget, blocking);
69
}
70

    
71

    
72
RobotGaze Middleware::get_gaze_target(){
73
    return gazeTarget;
74
}
75

    
76
void Middleware::set_head_animation(RobotHeadAnimation a, bool blocking){
77
    headAnimation = a;
78
    publish_head_animation(headAnimation, blocking);
79
}
80

    
81
void Middleware::set_speak(string text, bool blocking){
82
    publish_speech(text, blocking);
83
}