humotion / include / server / controller.h @ 5972e317
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/*
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* This file is part of humotion
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*
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* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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* http://opensource.cit-ec.de/projects/humotion
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*
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* This file may be licensed under the terms of the
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* GNU Lesser General Public License Version 3 (the ``LGPL''),
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* or (at your option) any later version.
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*
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* Software distributed under the License is distributed
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* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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* express or implied. See the LGPL for the specific language
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* governing rights and limitations.
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*
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* You should have received a copy of the LGPL along with this
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* program. If not, go to http://www.gnu.org/licenses/lgpl.html
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* or write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The development of this software was supported by the
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* Excellence Cluster EXC 277 Cognitive Interaction Technology.
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* The Excellence Cluster EXC 277 is a grant of the Deutsche
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* Forschungsgemeinschaft (DFG) in the context of the German
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* Excellence Initiative.
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*/
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#pragma once
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#include "../gaze_state.h" |
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#include "../mouth_state.h" |
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#include "motion_generator.h" |
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#include "joint_interface.h" |
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namespace humotion{ |
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namespace server{ |
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class Controller{ |
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public:
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Controller(JointInterface *j); |
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~Controller(); |
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void init_motion_generators();
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void calculate_targets();
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void publish_targets();
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void set_gaze_target(GazeState s);
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void set_mouth_target(MouthState s);
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private:
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void add_motion_generator(MotionGenerator *m);
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typedef std::vector<MotionGenerator *> motion_generator_vector_t;
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motion_generator_vector_t motion_generator_vector; |
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JointInterface *joint_interface; |
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}; |
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} |
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} |