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.

*

*/

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;