hlrc

/*

* This file is part of hlrc_server

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/hlrc_server

*

* This file may be licensed under the terms of the

* GNU General Public License Version 3 (the ``GPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the GPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the GPL along with this

* program. If not, go to http://www.gnu.org/licenses/gpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*

*/

#pragma once

#include <humotion/gaze_state.h>

#include "boost/date_time/posix_time/posix_time.hpp"

#include <boost/thread/thread_time.hpp>

#include <boost/thread/thread.hpp>

class Animation{

public:

    Animation();

    ~Animation();

    void apply_on_gazestate(humotion::GazeState *gaze);

    void start();

    bool is_active();

    bool collides_with(Animation *ani);

    typedef enum {

        IDLE  = 0,

        HEAD_NOD,

        HEAD_SHAKE,

        EYEBLINK_L,

        EYEBLINK_R,

        EYEBLINK_BOTH,

        EYEBROWS_RAISE,

        EYEBROWS_LOWER,

        ENGAGEMENT_LEFT,

        ENGAGEMENT_RIGHT

    } AnimationType_t;

    AnimationType_t target;

    unsigned int repetitions;

    unsigned int duration_each; //in ms

    float  scale;

    std::string type_as_string(){

        switch ((int)target){

            case(IDLE):        return "IDLE";

            case(HEAD_NOD):    return "HEAD_NOD";

            case(HEAD_SHAKE):  return "HEAD_SHAKE";

            case(EYEBLINK_L):  return "EYEBLINK_L";

            case(EYEBLINK_R):  return "EYEBLINK_R";

            case(EYEBLINK_BOTH): return "EYEBLINK_BOTH";

            case(EYEBROWS_RAISE): return "EYEBROWS_RAISE";

            case(EYEBROWS_LOWER): return "EYEBROWS_LOWER";

            case(ENGAGEMENT_LEFT): return "ENGAGEMENT_LEFT";

            case(ENGAGEMENT_RIGHT): return "ENGAGEMENT_RIGHT";

            default: return "INVALID ID!";

        }

    }

    std::string as_string(){

        char buf[256];

        snprintf(buf, 255, "Animation: %d times %s (duration each = %dms)", repetitions, type_as_string().c_str(), duration_each);

        return buf;

    }

private:

    float apply_motion_profile_positive(float tn);

    float apply_motion_profile_symmetric(float tn, unsigned int rep);

    float apply_motion_profile_asymmetric(float tn, unsigned int rep);

    bool active;

    unsigned int repetition_now;

    boost::system_time end_time;

    boost::system_time start_time;

};