hlrc / client / cpp / src / RobotController.cpp @ f0dcf4ca
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| 1 | 0c286af0 | Simon Schulz | /*
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| 2 | * This file is part of hlrc
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| 3 | *
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| 4 | * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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| 5 | * http://opensource.cit-ec.de/projects/hlrc
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| 6 | *
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| 7 | * This file may be licensed under the terms of the
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| 8 | * GNU General Public License Version 3 (the ``GPL''),
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| 9 | * or (at your option) any later version.
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| 10 | *
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| 11 | * Software distributed under the License is distributed
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| 12 | * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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| 13 | * express or implied. See the GPL for the specific language
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| 14 | * governing rights and limitations.
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| 15 | *
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| 16 | * You should have received a copy of the GPL along with this
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| 17 | * program. If not, go to http://www.gnu.org/licenses/gpl.html
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| 18 | * or write to the Free Software Foundation, Inc.,
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| 19 | * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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| 20 | *
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| 21 | * The development of this software was supported by the
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| 22 | * Excellence Cluster EXC 277 Cognitive Interaction Technology.
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| 23 | * The Excellence Cluster EXC 277 is a grant of the Deutsche
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| 24 | * Forschungsgemeinschaft (DFG) in the context of the German
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| 25 | * Excellence Initiative.
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| 26 | *
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| 27 | */
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| 28 | |||
| 29 | #include "RobotController.h" |
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| 30 | #include "Middleware.h" |
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| 31 | #include "MiddlewareROS.h" |
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| 32 | 4bd3e852 | Simon Schulz | #include "MiddlewareRSB.h" |
| 33 | |||
| 34 | 0c286af0 | Simon Schulz | using namespace std; |
| 35 | |||
| 36 | RobotController::RobotController(string mw_name, string base_scope){ |
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| 37 | 4bd3e852 | Simon Schulz | |
| 38 | if (mw_name == "ROS"){ |
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| 39 | //intantiate ROS mw
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| 40 | middleware = new MiddlewareROS(base_scope);
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| 41 | }else if (mw_name == "RSB"){ |
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| 42 | //intantiate RSB mw
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| 43 | middleware = new MiddlewareRSB(base_scope);
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| 44 | 0c286af0 | Simon Schulz | }else{
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| 45 | 4bd3e852 | Simon Schulz | printf("ERROR: invalid middleware requested (%s). supported: {ROS, RSB}\n\n", mw_name.c_str());
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| 46 | 0c286af0 | Simon Schulz | exit(EXIT_FAILURE); |
| 47 | } |
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| 48 | } |
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| 49 | |||
| 50 | void RobotController::set_current_emotion(RobotEmotion e, bool blocking){ |
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| 51 | middleware->set_current_emotion(e, blocking); |
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| 52 | } |
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| 53 | |||
| 54 | void RobotController::set_default_emotion(RobotEmotion e, bool blocking){ |
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| 55 | middleware->set_default_emotion(e, blocking); |
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| 56 | } |
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| 57 | |||
| 58 | |||
| 59 | void RobotController::set_gaze_target(RobotGaze target, bool blocking){ |
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| 60 | middleware->set_gaze_target(target, blocking); |
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| 61 | } |
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| 62 | |||
| 63 | RobotGaze RobotController::get_gaze_target(){
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| 64 | return middleware->get_gaze_target();
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| 65 | } |
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| 66 | |||
| 67 | f0dcf4ca | Robert Haschke | void RobotController::set_lookat_target(float x, float y, float z, const std::string frame_id, |
| 68 | bool blocking, float roll){ |
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| 69 | middleware->set_lookat_target(x, y, z, frame_id, blocking, roll); |
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| 70 | } |
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| 71 | |||
| 72 | 0c286af0 | Simon Schulz | void RobotController::set_mouth_target(RobotMouth target, bool blocking){ |
| 73 | middleware->set_mouth_target(target, blocking); |
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| 74 | } |
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| 75 | |||
| 76 | void RobotController::set_head_animation(RobotHeadAnimation a, bool blocking){ |
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| 77 | middleware->set_head_animation(a, blocking); |
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| 78 | } |
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| 79 | |||
| 80 | void RobotController::set_speak(string text, bool blocking){ |
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| 81 | printf("> DBG: set_speak(%s, %s)\n",text.c_str(),blocking?"blocking":"nonblock"); |
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| 82 | middleware->set_speak(text, blocking); |
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| 83 | } |
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| 84 |