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hlrc / client / cpp / src / Middleware.cpp @ 42084118

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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 "Middleware.h"
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using namespace std;
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Middleware::Middleware(string scope) {
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        base_scope = scope;
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}
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void Middleware::set_default_emotion(RobotEmotion e, bool blocking) {
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        defaultEmotion = e;
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        publish_default_emotion(defaultEmotion, blocking);
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}
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void Middleware::set_current_emotion(RobotEmotion e, bool blocking) {
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        currentEmotion = e;
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        publish_current_emotion(currentEmotion, blocking);
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}
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RobotEmotion Middleware::get_current_emotion() {
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        return currentEmotion;
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}
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RobotEmotion Middleware::get_default_emotion() {
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        return defaultEmotion;
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}
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void Middleware::set_gaze_target(RobotGaze target, bool blocking) {
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        // printf("> Middleware::set_gaze_target({%4.1f %4.1f %4.1f %4.1f},
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        // %s)\n",target.pan,target.roll,target.tilt,target.vergence,blocking?"BLOCKING":"NONBLOCKING");
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        gazeTarget = target;
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        publish_gaze_target(gazeTarget, blocking);
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}
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void Middleware::set_lookat_target(float x, float y, float z, const string frame_id, bool blocking, float roll) {
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        publish_lookat_target(x, y, z, frame_id, blocking, roll);
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}
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void Middleware::set_mouth_target(RobotMouth target, bool blocking) {
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        mouthTarget = target;
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        publish_mouth_target(mouthTarget, blocking);
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}
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RobotGaze Middleware::get_gaze_target() {
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        return gazeTarget;
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}
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void Middleware::set_head_animation(RobotHeadAnimation a, bool blocking) {
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        headAnimation = a;
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        publish_head_animation(headAnimation, blocking);
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}
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void Middleware::set_speak(string text, bool blocking) {
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        publish_speech(text, blocking);
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}