hlrc

/*

 * This file is part of hlrc_server

 *

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

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

 *

 * 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.

 *

 */

#include "EmotionConfig.h"

using namespace boost;

EmotionConfig::EmotionConfig() {

        select_config(NEUTRAL);

}

EmotionConfig::EmotionConfig(EmotionType e) {

        select_config(e);

}

EmotionConfig::~EmotionConfig() {

}

bool EmotionConfig::is_active() {

        if (get_system_time() >= end_time) {

                return false;

        }

        return true;

}

void EmotionConfig::set_duration(unsigned long ms) {

        // set a timeout:

        end_time = get_system_time() + posix_time::milliseconds(ms);

}

void EmotionConfig::select_config(EmotionType e) {

        // default overblend time

        overblend_time_ms = 500;

        switch ((int)e) {

                default:

                case (NEUTRAL):

                        init_neutral();

                        break;

                case (HAPPY):

                        init_happy();

                        break;

                case (SAD):

                        init_sad();

                        break;

                case (ANGRY):

                        init_angry();

                        break;

                case (SURPRISED):

                        init_surprised();

                        break;

                case (FEAR):

                        init_fear();

                        break;

        }

}

void EmotionConfig::init_neutral() {

        // neutral = look straight

        gaze_override.pan_offset = 0.0;

        gaze_override.tilt_offset = 0.0;

        gaze_override.roll_offset = 0.0;

        gaze_override.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE; // GAZETYPE_OVERRIDE;

        // not setable right now

        gaze_override.vergence = 0.0;

        gaze_override.eyelid_opening_upper = 25.0;

        gaze_override.eyelid_opening_lower = 30.0;

        // eyebrow angles

        gaze_override.eyebrow_left = -3.0;

        gaze_override.eyebrow_right = 3.0;

        // eyeblink request

        gaze_override.eyeblink_request_left = 0;

        gaze_override.eyeblink_request_right = 0;

        // mouth:

        /*mouth_override.position_left   = 14.7;

        mouth_override.opening_left    = 0.0;

        mouth_override.position_center = 16.0;

        mouth_override.opening_center  = 1.0;

        mouth_override.position_right  = 14.7;

        mouth_override.opening_right   = 0.0;*/

        /*mouth_override.position_left   = 11.54200000000000000000;

        mouth_override.opening_left    = 0; //2.412000;

        mouth_override.position_center = 12.50000000000000000;

        mouth_override.opening_center  = 0; //1.737000;

        mouth_override.position_right  = 11.5250000000000000000;

        mouth_override.opening_right   = 0;//2.412000;

        */

        mouth_override.position_left = 20;

        mouth_override.opening_left = 0.0;

        mouth_override.position_center = 22;

        mouth_override.opening_center = 2.0;

        mouth_override.position_right = 20 - 2;

        mouth_override.opening_right = 0.0;

}

void EmotionConfig::init_happy() {

        // neutral = look straight

        gaze_override.pan_offset = 0.0;

        gaze_override.tilt_offset = 0.0;

        gaze_override.roll_offset = 0.0;

        gaze_override.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE; // GAZETYPE_OVERRIDE;

        // not setable right now

        gaze_override.vergence = 0.0;

        gaze_override.eyelid_opening_upper = 30.0;

        gaze_override.eyelid_opening_lower = 30.0;

        // eyebrow angles

        gaze_override.eyebrow_left = -1.0;

        gaze_override.eyebrow_right = 1.0;

        // eyeblink request

        gaze_override.eyeblink_request_left = humotion::GazeState::EYEBLINK_TIME_DEFAULT;

        gaze_override.eyeblink_request_right = humotion::GazeState::EYEBLINK_TIME_DEFAULT;

        /*

            mouth_override.position_left   = -1+9.5;

            mouth_override.opening_left    = 0.0;

            mouth_override.position_center = 24.3;

            mouth_override.opening_center  = 7.0;

            mouth_override.position_right  = -1+10.5;

            mouth_override.opening_right   = 0.0;*/

        mouth_override.position_left = 18;   // 13.56850000000000000000;

        mouth_override.opening_left = 0;     //.791000;

        mouth_override.position_center = 26; // 14.18400000000000000000;

        mouth_override.opening_center = 5;

        mouth_override.position_right = 18; // 15.31800000000000000000;

        mouth_override.opening_right = 0;   // 2.791000;

}

void EmotionConfig::init_sad() {

        gaze_override.pan_offset = 0.0;

        gaze_override.tilt_offset = -3.0;

        gaze_override.roll_offset = -3.0;

        gaze_override.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE; // GAZETYPE_OVERRIDE;

        // not setable right now

        gaze_override.vergence = 0.0;

        gaze_override.eyelid_opening_upper = 15.0;

        gaze_override.eyelid_opening_lower = 40.0;

        // eyebrow angles

        gaze_override.eyebrow_left = -20.0;

        gaze_override.eyebrow_right = 20.0;

        // eyeblink request

        gaze_override.eyeblink_request_left = 3 * humotion::GazeState::EYEBLINK_TIME_DEFAULT;

        gaze_override.eyeblink_request_right = 3 * humotion::GazeState::EYEBLINK_TIME_DEFAULT;

        // mouth:

        mouth_override.position_left = 21.0;

        mouth_override.opening_left = 0.0;

        mouth_override.position_center = 16.0;

        mouth_override.opening_center = 0.0;

        mouth_override.position_right = 21.0;

        mouth_override.opening_right = 0.0;

}

void EmotionConfig::init_angry() {

        gaze_override.pan_offset = 0.0;

        gaze_override.tilt_offset = -5.0;

        gaze_override.roll_offset = 0.0;

        gaze_override.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE; // GAZETYPE_OVERRIDE;

        // not setable right now

        gaze_override.vergence = 0.0;

        gaze_override.eyelid_opening_upper = 18.0;

        gaze_override.eyelid_opening_lower = 18.0;

        // eyebrow angles

        gaze_override.eyebrow_left = 21.0;

        gaze_override.eyebrow_right = -21.0;

        // eyeblink request

        gaze_override.eyeblink_request_left = 0;

        gaze_override.eyeblink_request_right = 0;

        // mouth:

        mouth_override.position_left = 21;

        mouth_override.opening_left = 6.0;

        mouth_override.position_center = 22.3;

        mouth_override.opening_center = 0.0;

        mouth_override.position_right = 21;

        mouth_override.opening_right = 6.0;

}

void EmotionConfig::init_surprised() {

        gaze_override.pan_offset = 0.0;

        gaze_override.tilt_offset = 8.0;

        gaze_override.roll_offset = 0.0;

        gaze_override.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE; // GAZETYPE_OVERRIDE;

        // not setable right now

        gaze_override.vergence = 0.0;

        // eyelids

        gaze_override.eyelid_opening_upper = 60.0;

        gaze_override.eyelid_opening_lower = 60.0;

        // eyebrow angles

        gaze_override.eyebrow_left = -2.0;

        gaze_override.eyebrow_right = 2.0;

        // eyeblink request

        gaze_override.eyeblink_request_left = humotion::GazeState::EYEBLINK_TIME_DEFAULT;

        gaze_override.eyeblink_request_right = humotion::GazeState::EYEBLINK_TIME_DEFAULT;

        // mouth:

        mouth_override.position_left = 22;

        mouth_override.opening_left = 0.0;

        mouth_override.position_center = 26.0;

        mouth_override.opening_center = 10.0;

        mouth_override.position_right = 22.0;

        mouth_override.opening_right = 0.0;

}

void EmotionConfig::init_fear() {

        gaze_override.pan_offset = 5.0;

        gaze_override.tilt_offset = 0.0;

        gaze_override.roll_offset = 0.0;

        gaze_override.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE;

        // not setable right now

        gaze_override.vergence = 0.0;

        gaze_override.eyelid_opening_upper = 50.0;

        gaze_override.eyelid_opening_lower = 50.0;

        // eyebrow angles

        gaze_override.eyebrow_left = -23.0;

        gaze_override.eyebrow_right = 23.0;

        // eyeblink request

        gaze_override.eyeblink_request_left = 0;

        gaze_override.eyeblink_request_right = 0;

        // mouth:

        mouth_override.position_left = 14;

        mouth_override.opening_left = 0.0;

        mouth_override.position_center = 21;

        mouth_override.opening_center = 5;

        mouth_override.position_right = 35.9;

        mouth_override.opening_right = 0.0;

}