humotion

/*

* This file is part of humotion

*

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

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

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include <math.h>

namespace humotion{

class GazeState{

public:

        GazeState();

        ~GazeState();

        void dump();

        //pan tilt roll

        float pan;

        float tilt;

        float roll;

        float pan_offset;

        float tilt_offset;

        float roll_offset;

        //pan,tilt,roll can be relative or absolute

        int type;

        //when was this target requested?

        double timestamp;

        //is this relative or

        enum GAZE_STATE_TYPE{

            ABSOLUTE=0,

            RELATIVE=1,

            OVERRIDE=2

        };

        //

        float vergence;

        //eyelid opening angle

        float eyelid_opening_upper;

        float eyelid_opening_lower;

        //eyebrow angles

        float eyebrow_left;

        float eyebrow_right;

        //eyeblink request

        int eyeblink_request_left;

        int eyeblink_request_right;

        static const int EYEBLINK_TIME_DEFAULT = 150; //ms

        float distance_pt_abs(GazeState b){

            float dist_pan = (b.pan + b.pan_offset) - (pan + pan_offset);

            float dist_tilt = (b.tilt + b.tilt_offset) - (tilt + tilt_offset);

            return sqrt(pow(dist_pan, 2.0) + pow(dist_tilt, 2.0));

        }

        float distance_tilt_abs(GazeState b){

            float dist_tilt = (b.tilt + b.tilt_offset) - (tilt + tilt_offset);

            return fabs(dist_tilt);

        }

        float distance_pan_abs(GazeState b){

            float dist_pan = (b.pan + b.pan_offset) - (pan + pan_offset);

            return fabs(dist_pan);

        }

};

}