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hlrc / client / cpp / src / RobotController.cpp @ 23fe067c

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/*
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 * This file is part of hlrc
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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
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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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#include "RobotController.h"
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#include "Middleware.h"
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#include "MiddlewareROS.h"
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#include "MiddlewareRSB.h"
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using namespace std;
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RobotController::RobotController(string mw_name, string base_scope) {
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        if (mw_name == "ROS") {
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                // intantiate ROS mw
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                middleware = new MiddlewareROS(base_scope);
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        }
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        else if (mw_name == "RSB") {
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                // intantiate RSB mw
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                middleware = new MiddlewareRSB(base_scope);
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        }
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        else {
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                printf("ERROR: invalid middleware requested (%s). supported: {ROS, RSB}\n\n", mw_name.c_str());
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                exit(EXIT_FAILURE);
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        }
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}
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void RobotController::set_current_emotion(RobotEmotion e, bool blocking) {
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        middleware->set_current_emotion(e, blocking);
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}
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void RobotController::set_default_emotion(RobotEmotion e, bool blocking) {
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        middleware->set_default_emotion(e, blocking);
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}
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void RobotController::set_gaze_target(RobotGaze target, bool blocking) {
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        middleware->set_gaze_target(target, blocking);
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}
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RobotGaze RobotController::get_gaze_target() {
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        return middleware->get_gaze_target();
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}
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void RobotController::set_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll) {
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        middleware->set_lookat_target(x, y, z, frame_id, blocking, roll);
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}
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void RobotController::set_mouth_target(RobotMouth target, bool blocking) {
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        middleware->set_mouth_target(target, blocking);
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}
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void RobotController::set_head_animation(RobotHeadAnimation a, bool blocking) {
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        middleware->set_head_animation(a, blocking);
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}
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void RobotController::set_speak(string text, bool blocking) {
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        printf("> DBG: set_speak(%s, %s)\n", text.c_str(), blocking ? "blocking" : "nonblock");
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        middleware->set_speak(text, blocking);
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}