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.

*

*/

RobotController::RobotController(string mw_name, string base_scope){

     if (mw_name == "ROS"){

         //intantiate ROS mw

         middleware = new MiddlewareROS(base_scope);

     }else if (mw_name == "RSB"){

         //intantiate RSB mw

         middleware = new MiddlewareRSB(base_scope);

    }else{

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

        exit(EXIT_FAILURE);

    }

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

    middleware->set_current_emotion(e, blocking);

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

    middleware->set_default_emotion(e, blocking);

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

    middleware->set_gaze_target(target, blocking);

RobotGaze RobotController::get_gaze_target(){

    return middleware->get_gaze_target();

void RobotController::set_lookat_target(float x, float y, float z, const std::string frame_id,

                                        bool blocking, float roll){

    middleware->set_lookat_target(x, y, z, frame_id, blocking, roll);

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

    middleware->set_mouth_target(target, blocking);

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

    middleware->set_head_animation(a, blocking);

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

    printf("> DBG: set_speak(%s, %s)\n",text.c_str(),blocking?"blocking":"nonblock");

    middleware->set_speak(text, blocking);