hlrc

#######################################

#allow forced disable of RSB

option(IGNORE_RSB "IGNORE_RSB" OFF)

#######################################

# check if we have RSB support:

IF (IGNORE_RSB)

    MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB")

ELSE (IGNORE_RSB)

FIND_PACKAGE(RSB 0.11 QUIET)

IF (RSB_FOUND)

    #RSB

    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")

    FIND_PACKAGE(RSC 0.11 REQUIRED)

    FIND_PACKAGE(RSB 0.11 REQUIRED)

    #RST

    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})

    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})

    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})

    #RSB

    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")

    FIND_PACKAGE(RSC 0.11 REQUIRED)

    FIND_PACKAGE(RSB 0.11 REQUIRED)

    #RST

    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})

    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})

    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})

    message(STATUS "RSB Support is ON")

    add_definitions(-DRSB_SUPPORT=1)

ELSE(RSB_FOUND)

    message(STATUS "RSB not found.")

ENDIF(RSB_FOUND)

ENDIF(IGNORE_RSB)

    src/MiddlewareRSB.cpp

target_link_libraries(${HLRC_CLIENT_LIBNAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${catkin_LIBRARIES})

#TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} ${BART_LIBRARIES} )

		printf("       <middleware> is either ROS or RSB\n");

	RobotController* robot_controller = new RobotController("RSB", "/flobi");

		printf("> ERROR: hlrc was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");

/*

 * This file is part of hlrc

 *

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

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

 *

 * 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 "Middleware.h"

#ifdef RSB_SUPPORT

#define BOOST_SIGNALS_NO_DEPRECATION_WARNING // mute warnings from RSB

#include <rsb/Factory.h>

#include <rsb/Informer.h>

#include <rsb/Listener.h>

#if USE_INPROTK_SYNTHESIS

#include <rst/communicationpatterns/TaskState.pb.h>

#endif

#endif

class MiddlewareRSB : public Middleware {

#ifndef RSB_SUPPORT

public:

	MiddlewareRSB(std::string scope) : Middleware(scope) {

		printf("> ERROR: hlrc was compiled without RSB middleware support. Please use MiddlewareROS() instead!\n\n");

		exit(EXIT_FAILURE);

	}

	void init(){};

	void publish_default_emotion(RobotEmotion e, bool blocking){};

	void publish_current_emotion(RobotEmotion e, bool blocking){};

	void publish_gaze_target(RobotGaze g, bool blocking){};

	void publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll){};

	void publish_mouth_target(RobotMouth m, bool blocking){};

	void publish_head_animation(RobotHeadAnimation a, bool blocking){};

	void publish_speech(std::string text, bool blocking){};

#else

public:

	MiddlewareRSB(std::string scope);

protected:

	void init();

	void publish_current_emotion(RobotEmotion e, bool blocking);

	void publish_default_emotion(RobotEmotion e, bool blocking);

	void publish_gaze_target(RobotGaze target, bool blocking);

	void publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll);

	void publish_mouth_target(RobotMouth target, bool blocking);

	void publish_head_animation(RobotHeadAnimation a, bool blocking);

	void publish_speech(std::string text, bool blocking);

private:

	void publish_emotion(std::string scope_target, RobotEmotion e, bool blocking);

	// rsb::patterns::RemoteServerPtr inprotk_server;

	rsb::patterns::RemoteServerPtr hlrc_server;

	// rsb::patterns::LocalServerPtr inprotk_server;

#if USE_INPROTK_SYNTHESIS

	rsb::Informer<rst::communicationpatterns::TaskState>::Ptr inprotk_informer;

	rsb::ListenerPtr inprotk_listener;

	rsb::ListenerPtr hack_listener;

	std::mutex pending_tasks_mutex;

	std::vector<std::shared_ptr<rst::communicationpatterns::TaskState> > pending_tasks;

	unsigned int say_task_active;

	unsigned int say_task_done;

	std::mutex current_saytask_mutex;

	std::string current_saytask;

	std::string get_current_saytask();

	void set_current_saytask(std::string text);

	void check_for_inprotk();

	void incoming_hack(std::shared_ptr<std::string> finished_task);

#endif

#endif

};

/*

 * This file is part of hlrc

 *

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

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

 *

 * 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.

 *

 */

#ifdef RSB_SUPPORT

#include "MiddlewareRSB.h"

#include <rsb/converter/Repository.h>

#include <rsb/converter/ProtocolBufferConverter.h>

#include <rst/animation/EmotionExpression.pb.h>

#include <rst/animation/BinocularHeadGaze.pb.h>

#include <rst/animation/HeadAnimation.pb.h>

#include <rst/audition/Utterance.pb.h>

#include <rst/audition/SoundChunk.pb.h>

#include <boost/algorithm/string.hpp>

#include <boost/range/algorithm_ext/erase.hpp>

using namespace std;

using namespace rsb;

using namespace rsb::patterns;

MiddlewareRSB::MiddlewareRSB(string scope) : Middleware(scope) {

	printf("> new MiddlewareRSB() on base scope '%s'\n", base_scope.c_str());

	init();

}

void MiddlewareRSB::init(void) {

	printf("> MiddlewareRSB::init() registering converters\n");

	try {

		// converter for EmotionState

		rsb::converter::Converter<string>::Ptr emotionStateConverter(

		   new rsb::converter::ProtocolBufferConverter<rst::animation::EmotionExpression>());

		rsb::converter::converterRepository<string>()->registerConverter(emotionStateConverter);

		// converter for Utterance

		// rsb::converter::Converter<string>::Ptr UtteranceConverter(new

		// rsb::converter::ProtocolBufferConverter<rst::audition::Utterance>());

		// rsb::converter::converterRepository<string>()->registerConverter(UtteranceConverter);

		// converter for GazeTarget

		rsb::converter::Converter<string>::Ptr gazeTargetConverter(

		   new rsb::converter::ProtocolBufferConverter<rst::animation::BinocularHeadGaze>());

		rsb::converter::converterRepository<string>()->registerConverter(gazeTargetConverter);

		// converter for MouthTarget

		/// rsb::converter::Converter<string>::Ptr mouthTargetConverter(new

		/// rsb::converter::ProtocolBufferConverter<rst::robot::MouthTarget>());

		/// rsb::converter::converterRepository<string>()->registerConverter(mouthTargetConverter);

		// converter for Animation

		rsb::converter::Converter<string>::Ptr animationConverter(

		   new rsb::converter::ProtocolBufferConverter<rst::animation::HeadAnimation>());

		rsb::converter::converterRepository<string>()->registerConverter(animationConverter);

	}

	catch (std::invalid_argument e) {

		printf("> converters already registered\n");

	}

	// first get a factory instance that is used to create RSB domain objects

	Factory& factory = getFactory();

	// get server

	string scope = base_scope + "/set/";

	hlrc_server = factory.createRemoteServer(scope);

	printf("> init done\n");

}

void MiddlewareRSB::publish_emotion(string scope_target, RobotEmotion e, bool blocking) {

	std::shared_ptr<rst::animation::EmotionExpression> request(new rst::animation::EmotionExpression());

	switch (e.value) {

		default:

			printf("> WANRING: invalid emotion id %d. defaulting to NEUTRAL\n", e.value);

			// fall through:

		case (RobotEmotion::NEUTRAL):

			request->set_emotion(rst::animation::EmotionExpression::NEUTRAL);

			break;

		case (RobotEmotion::HAPPY):

			request->set_emotion(rst::animation::EmotionExpression::HAPPY);

			break;

		case (RobotEmotion::SAD):

			request->set_emotion(rst::animation::EmotionExpression::SAD);

			break;

		case (RobotEmotion::ANGRY):

			request->set_emotion(rst::animation::EmotionExpression::ANGRY);

			break;

		case (RobotEmotion::SURPRISED):

			request->set_emotion(rst::animation::EmotionExpression::SURPRISED);

			break;

		case (RobotEmotion::FEAR):

			request->set_emotion(rst::animation::EmotionExpression::FEAR);

			break;

	}

	request->set_duration(e.time_ms);

	if (blocking) {

		hlrc_server->call<rst::animation::EmotionExpression>(scope_target, request);

	}

	else {

		hlrc_server->callAsync<rst::animation::EmotionExpression>(scope_target, request);

	}

}

void MiddlewareRSB::publish_current_emotion(RobotEmotion e, bool blocking) {

	publish_emotion("currentEmotion", e, blocking);

}

void MiddlewareRSB::publish_default_emotion(RobotEmotion e, bool blocking) {

	publish_emotion("defaultEmotion", e, blocking);

}

void MiddlewareRSB::publish_gaze_target(RobotGaze incoming_target, bool blocking) {

	std::shared_ptr<rst::animation::BinocularHeadGaze> request(new rst::animation::BinocularHeadGaze());

	std::shared_ptr<rst::geometry::SphericalDirectionFloat> target(new rst::geometry::SphericalDirectionFloat());

	target->set_azimuth(incoming_target.pan);

	target->set_elevation(incoming_target.tilt);

	request->set_allocated_target(target.get());

	request->set_eye_vergence(incoming_target.vergence);

	std::shared_ptr<rst::geometry::SphericalDirectionFloat> offset(new rst::geometry::SphericalDirectionFloat());

	offset->set_azimuth(incoming_target.pan_offset);

	offset->set_elevation(incoming_target.tilt_offset);

	request->set_allocated_offset(offset.get());

	if (blocking) {

		hlrc_server->call<rst::animation::BinocularHeadGaze>("gaze", request);

	}

	else {

		hlrc_server->callAsync<rst::animation::BinocularHeadGaze>("gaze", request);

	}

}

void MiddlewareRSB::publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll) {

	std::cerr << "not yet implemented" << std::endl;

}

void MiddlewareRSB::publish_mouth_target(RobotMouth target, bool blocking) {

	/*

	    std::shared_ptr<rst::robot::MouthTarget> request(new rst::robot::MouthTarget());

	    request->set_position_left(  target.position_left);

	    request->set_position_center(target.position_center);

	    request->set_position_right( target.position_right);

	    request->set_opening_left(  target.opening_left);

	    request->set_opening_center(target.opening_center);

	    request->set_opening_right( target.opening_right);

	    if (blocking){

	        hlrc_server->call<rst::robot::MouthTarget>("mouth", request);

	    }else{

	        hlrc_server->callAsync<rst::robot::MouthTarget>("mouth", request);

	    }

	*/

	printf("> ERROR: mouth targets not yet implemented in RSB middleware!\n");

}

void MiddlewareRSB::publish_head_animation(RobotHeadAnimation a, bool blocking) {

	std::shared_ptr<rst::animation::HeadAnimation> request(new rst::animation::HeadAnimation());

	switch (a.value) {

		default:

			printf("> WANRING: invalid animation id %d. defaulting to IDLE", a.value);

			// fall through:

		case (RobotHeadAnimation::IDLE):

			request->set_animation(rst::animation::HeadAnimation::IDLE);

			break;

		case (RobotHeadAnimation::HEAD_NOD):

			request->set_animation(rst::animation::HeadAnimation::HEAD_NOD);

			break;

		case (RobotHeadAnimation::HEAD_SHAKE):

			request->set_animation(rst::animation::HeadAnimation::HEAD_SHAKE);

			break;

		case (RobotHeadAnimation::EYEBLINK_L):

			request->set_animation(rst::animation::HeadAnimation::EYEBLINK_LEFT);

			break;

		case (RobotHeadAnimation::EYEBLINK_R):

			request->set_animation(rst::animation::HeadAnimation::EYEBLINK_RIGHT);

			break;

		case (RobotHeadAnimation::EYEBLINK_BOTH):

			request->set_animation(rst::animation::HeadAnimation::EYEBLINK_BOTH);

			break;

		case (RobotHeadAnimation::EYEBROWS_RAISE):

			request->set_animation(rst::animation::HeadAnimation::EYEBROWS_RAISE);

			break;

		case (RobotHeadAnimation::EYEBROWS_LOWER):

			request->set_animation(rst::animation::HeadAnimation::EYEBROWS_LOWER);

			break;

		case (RobotHeadAnimation::ENGAGEMENT_LEFT):

			request->set_animation(rst::animation::HeadAnimation::ENGAGEMENT_LEFT);

			break;

		case (RobotHeadAnimation::ENGAGEMENT_RIGHT):

			request->set_animation(rst::animation::HeadAnimation::ENGAGEMENT_RIGHT);

			break;

	}

	request->set_repetitions(a.repetitions);

	request->set_emphasis_scale(a.scale);

	request->set_duration_each(a.time_ms);

	if (blocking) {

		hlrc_server->call<rst::animation::HeadAnimation>("animation", request);

	}

	else {

		hlrc_server->callAsync<rst::animation::HeadAnimation>("animation", request);

	}

}

void MiddlewareRSB::publish_speech(string text, bool blocking) {

	// say it

	std::shared_ptr<std::string> request(new string(text));

	if (blocking) {

		hlrc_server->call<std::string>("speech", request);

	}

	else {

		hlrc_server->callAsync<std::string>("speech", request);

	}

}

#endif

#include "MiddlewareRSB.h"

	else if (mw_name == "RSB") {

		// intantiate RSB mw

		middleware = new MiddlewareRSB(base_scope);

	}

		printf("ERROR: invalid middleware requested (%s). supported: {ROS, RSB}\n\n", mw_name.c_str());

                    GNU GENERAL PUBLIC LICENSE

                       Version 3, 29 June 2007

 Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>

 Everyone is permitted to copy and distribute verbatim copies

 of this license document, but changing it is not allowed.

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            How to Apply These Terms to Your New Programs

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Also add information on how to contact you by electronic and paper mail.

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may consider it more useful to permit linking proprietary applications with

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Public License instead of this License.  But first, please read

<http://www.gnu.org/philosophy/why-not-lgpl.html>.

# [h]igh [l]evel [r]obot [c]ontrol client java (hlrc_client_java)

this is the high level robot control client code in java.

<?xml version="1.0" encoding="UTF-8"?>

<actions>

        <action>

            <actionName>run</actionName>

            <packagings>

                <packaging>jar</packaging>

            </packagings>

            <goals>

                <goal>process-classes</goal>

                <goal>org.codehaus.mojo:exec-maven-plugin:1.2.1:exec</goal>

            </goals>

            <properties>

                <exec.args>-classpath %classpath de.uni-bielefeld.cit-ec.opensource.hlrc.main.Cmd --idle</exec.args>

                <exec.executable>java</exec.executable>

            </properties>

        </action>

        <action>

            <actionName>debug</actionName>

            <packagings>

                <packaging>jar</packaging>

            </packagings>

            <goals>

                <goal>process-classes</goal>

                <goal>org.codehaus.mojo:exec-maven-plugin:1.2.1:exec</goal>

            </goals>

            <properties>

                <exec.args>-Xdebug -Xrunjdwp:transport=dt_socket,server=n,address=${jpda.address} -classpath %classpath de.uni-bielefeld.cit-ec.opensource.hlrc.main.Cmd --idle</exec.args>

                <exec.executable>java</exec.executable>

                <jpda.listen>true</jpda.listen>

            </properties>

        </action>

        <action>

            <actionName>profile</actionName>

            <packagings>

                <packaging>jar</packaging>

            </packagings>

            <goals>

                <goal>process-classes</goal>

                <goal>org.codehaus.mojo:exec-maven-plugin:1.2.1:exec</goal>

            </goals>

            <properties>

                <exec.args>-classpath %classpath de.uni-bielefeld.cit-ec.opensource.hlrc.main.Cmd --idle</exec.args>

                <exec.executable>java</exec.executable>

            </properties>

        </action>

    </actions>

<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">

    <modelVersion>4.0.0</modelVersion>

    <groupId>de.citec.csra</groupId>

    <artifactId>hlrc-client</artifactId>

    <version>0.1-SNAPSHOT</version>

    <packaging>jar</packaging>

    <name>High Level Robot Control java client</name>

    <url>http://maven.apache.org</url>

    <build>

        <plugins>

            <plugin>

                <groupId>org.apache.maven.plugins</groupId>

                <artifactId>maven-compiler-plugin</artifactId>

                <version>3.1</version>

                <configuration>

                    <source>1.7</source>

                    <target>1.7</target>

                    <showDeprecation>true</showDeprecation>

                </configuration>

            </plugin>

            <plugin>

                <groupId>org.codehaus.mojo</groupId>

                <artifactId>appassembler-maven-plugin</artifactId>

                <version>1.8</version>

                <configuration>

                    <programs>

                        <program>

                            <mainClass>de.uni-bielefeld.cit-ec.opensource.hlrc.main.Cmd</mainClass>

                            <id>hlrc-client</id>

                        </program>

                    </programs>

                    <!--                    <assembleDirectory>${project.build.directory}/dist</assembleDirectory>

                    <repositoryName>lib</repositoryName>

                    <repositoryLayout>flat</repositoryLayout>-->

                </configuration>

                <executions>

                    <execution>

                        <id>assemble</id>

                        <goals>

                            <goal>assemble</goal>

                        </goals>

                    </execution>

                </executions>

            </plugin>

        </plugins>

    </build>

    <licenses>

        <license>

            <name>GPLv3</name>

            <url>http://www.gnu.org/licenses/gpl.html</url>

        </license>

    </licenses>

    <organization>

        <name>Citec, Bielefeld University</name>

        <url>http://www.cit-ec.de/</url>

    </organization>

    <developers>

        <developer>

            <id>flier</id>

            <name>Florian Lier</name>

            <email>flier@techfak.uni-bielefeld.de</email>

            <url>https://www.cit-ec.de/de/users/flier</url>

            <roles>

                <role>architect</role>

                <role>developer</role>

            </roles>

            <timezone>+1</timezone>

        </developer>

    </developers>

    <properties>

        <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>

    </properties>

    <dependencies>

        <dependency>

            <groupId>org.slf4j</groupId>

            <artifactId>slf4j-api</artifactId>

            <version>1.7.7</version>

        </dependency>

        <dependency>

            <groupId>org.slf4j</groupId>

            <artifactId>slf4j-simple</artifactId>

            <version>1.7.7</version>

        </dependency>            

        <dependency>

            <groupId>junit</groupId>

            <artifactId>junit</artifactId>

            <version>4.11</version>

            <scope>test</scope>

        </dependency>

        <dependency>

            <groupId>rsb</groupId>

            <artifactId>rsb</artifactId>

            <version>[0.11.0,)</version>

        </dependency>

        <dependency>

            <groupId>rsb</groupId>

            <artifactId>rst-sandbox-csra</artifactId>

            <version>0.11-SNAPSHOT</version>

        </dependency>

        <dependency>

            <groupId>commons-cli</groupId>

            <artifactId>commons-cli</artifactId>

            <version>1.2</version>

        </dependency>

	<dependency>

            <groupId>commons-lang</groupId>

            <artifactId>commons-lang</artifactId>

            <version>2.6</version>

        </dependency>

    </dependencies>

    <distributionManagement>

        <repository>

            <id>citec</id>

            <name>CITEC Maven Repository Server</name>

            <url>https://repo.cit-ec.uni-bielefeld.de/content/repositories/releases/</url>

            <layout>default</layout>

        </repository>

    </distributionManagement>

</project>

/*

* This file is part of hlrc

*

* Copyright(c) {flier,sschulz} <AT> techfak.uni-bielefeld.de

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

*

* 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.

*

*/

package de.uni_bielefeld.cit_ec.opensource.hlrc.client;

public enum Emotions {

    NEUTRAL,

    HAPPY,	

    SAD,	

    ANGRY,

    SURPRISED,	

    FEAR

}

/*

* This file is part of hlrc

*

* Copyright(c) {flier,sschulz} <AT> techfak.uni-bielefeld.de

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

*

* 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.

*

*/

package de.uni_bielefeld.cit_ec.opensource.hlrc.client;

public enum HeadAnimations {

    IDLE,

    HEAD_NOD,

    HEAD_SHAKE,

    EYEBLINK_L,

    EYEBLINK_R,

    EYEBLINK_BOTH,

    EYEBROWS_RAISE,

    EYEBROWS_LOWER

}

/*

* This file is part of hlrc

*

* Copyright(c) {flier,sschulz} <AT> techfak.uni-bielefeld.de

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

*

* 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.