hlrc / server / include / RSB / MouthCallbackWrapper.h @ 1c05bf39
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/*
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* This file is part of hlrc_server
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*
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* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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* http://opensource.cit-ec.de/projects/hlrc_server
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*
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* This file may be licensed under the terms of the
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* GNU General Public License Version 3 (the ``GPL''),
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* or (at your option) any later version.
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*
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* Software distributed under the License is distributed
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* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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* express or implied. See the GPL for the specific language
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* governing rights and limitations.
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*
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* You should have received a copy of the GPL along with this
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* program. If not, go to http://www.gnu.org/licenses/gpl.html
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* or write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The development of this software was supported by the
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* Excellence Cluster EXC 277 Cognitive Interaction Technology.
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* The Excellence Cluster EXC 277 is a grant of the Deutsche
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* Forschungsgemeinschaft (DFG) in the context of the German
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* Excellence Initiative.
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*
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*/
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#pragma once
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#include "CallbackWrapper.h" |
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//callback handler incoming gaze requests:
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class MouthCallbackWrapper : public CallbackWrapper<rst::robot::MouthTarget>{ |
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public:
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MouthCallbackWrapper(Middleware *mw) : CallbackWrapper(mw){} |
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void call(const std::string& method_name, boost::shared_ptr<rst::robot::MouthTarget> input){ |
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rst::robot::MouthTarget *mouth = input.get(); |
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humotion::MouthState mouth_state; |
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//fill in mouth
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mouth_state.opening_left = mouth->opening_left(); |
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mouth_state.opening_center = mouth->opening_center(); |
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mouth_state.opening_right = mouth->opening_right(); |
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mouth_state.position_left = mouth->position_left(); |
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mouth_state.position_center = mouth->position_center(); |
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mouth_state.position_right = mouth->position_right(); |
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//send to application:
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mw->mouth_callback(mouth_state); |
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} |
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}; |