hlrc

* 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.

*

*/

Middleware::Middleware(string scope){

    base_scope = scope;

void Middleware::set_default_emotion(RobotEmotion e, bool blocking){

    defaultEmotion = e;

    publish_default_emotion(defaultEmotion, blocking);

void Middleware::set_current_emotion(RobotEmotion e, bool blocking){

    currentEmotion = e;

    publish_current_emotion(currentEmotion, blocking);

RobotEmotion Middleware::get_current_emotion(){

    return currentEmotion;

RobotEmotion Middleware::get_default_emotion(){

    return defaultEmotion;

void Middleware::set_gaze_target(RobotGaze target, bool blocking){

    //printf("> Middleware::set_gaze_target({%4.1f %4.1f %4.1f %4.1f}, %s)\n",target.pan,target.roll,target.tilt,target.vergence,blocking?"BLOCKING":"NONBLOCKING");

    gazeTarget = target;

    publish_gaze_target(gazeTarget, blocking);

void Middleware::set_lookat_target(float x, float y, float z, const string frame_id, bool blocking, float roll)

{

    publish_lookat_target(x,y,z, frame_id, blocking, roll);

void Middleware::set_mouth_target(RobotMouth target, bool blocking){

    mouthTarget = target;

    publish_mouth_target(mouthTarget, blocking);

RobotGaze Middleware::get_gaze_target(){

    return gazeTarget;

void Middleware::set_head_animation(RobotHeadAnimation a, bool blocking){

    headAnimation = a;

    publish_head_animation(headAnimation, blocking);

void Middleware::set_speak(string text, bool blocking){

    publish_speech(text, blocking);