Project: bml_lib License: BSD Dependencies: bml_msgs bml_srvs rosjava Used by: bml_realizer All Packages

bml_lib/src/edu/wpi/hri/bml/behavior/GazeBehavior.java Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ package edu.wpi.hri.bml.behavior; import java.util.EnumSet; import java.util.Set; import org.w3c.dom.Document; import org.w3c.dom.Element; import org.w3c.dom.NodeList; import edu.wpi.hri.bml.behavior.BehaviorEnums.BehaviorType; import edu.wpi.hri.bml.behavior.BehaviorEnums.Direction; import edu.wpi.hri.bml.behavior.BehaviorEnums.Modality; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.LoggerLevel; public class GazeBehavior extends Behavior { private static final String TARGET_ATTR = "target"; private static final String OFFSET_ANGLE_ATTR = "offsetangle"; private static final String OFFSET_DIRECTION_ATTR = "offsetdirection"; private static final String POLAR_ANGLE_ATTR = "polarangle"; private static final String MODALITY_ELEMENT = "modality"; private final String target; private final float offsetAngle; private final Direction offsetDirection; private final float polarAngle; private final Set<Modality> modality; public GazeBehavior(Logger logger, Element elem) { super(logger, elem); // find the target attribute if it exists if (elem.hasAttribute(TARGET_ATTR)) this.target = elem.getAttribute(TARGET_ATTR); else this.target = ""; // find the offset angle if (elem.hasAttribute(OFFSET_ANGLE_ATTR)) this.offsetAngle = Float.parseFloat(elem .getAttribute(OFFSET_ANGLE_ATTR)); else this.offsetAngle = 0.0f; // find the offset direction if (elem.hasAttribute(OFFSET_DIRECTION_ATTR)) this.offsetDirection = Direction.valueOf(elem .getAttribute(OFFSET_DIRECTION_ATTR)); else this.offsetDirection = Direction.POLAR; // find the polar angle if (elem.hasAttribute(POLAR_ANGLE_ATTR)) this.polarAngle = Float.parseFloat(elem .getAttribute(POLAR_ANGLE_ATTR)); else this.polarAngle = 0.0f; // find all of the modalities this.modality = EnumSet.noneOf(Modality.class); NodeList list = elem.getElementsByTagName(MODALITY_ELEMENT); for (int c = 0; c < list.getLength(); c++) this.modality.add(Modality.valueOf(((Element) list.item(c)) .getTextContent())); this.logger.debug(LoggerLevel.BEHAVIOR, "Created ..."); } private GazeBehavior(Logger logger, String id, String target, float offsetAngle, Direction offsetDirection, float polarAngle, boolean required) { super(logger, id, required); this.target = target; this.offsetAngle = offsetAngle; this.offsetDirection = offsetDirection; this.polarAngle = polarAngle; this.modality = EnumSet.noneOf(Modality.class); this.logger.debug(LoggerLevel.BEHAVIOR, "Created ..."); } public GazeBehavior(Logger logger, String id, String target, boolean required) { this(logger, id, target, 0.0f, Direction.POLAR, 0.0f, required); } public GazeBehavior(Logger logger, String id, String target, float angle, Direction dir, boolean required) { this(logger, id, target, angle, dir, 0.0f, required); } public GazeBehavior(Logger logger, String id, String target, float angle, float polar, boolean required) { this(logger, id, target, angle, Direction.POLAR, polar, required); } public boolean addModality(Modality mode) { return this.modality.add(mode); } public void resetModalities() { this.modality.clear(); } public String getTarget() { return target; } public float getOffsetAngle() { return offsetAngle; } public Direction getOffsetDirection() { return offsetDirection; } public float getPolarAngle() { return polarAngle; } public Set<Modality> getModality() { return modality; } @Override protected void appendAttributes(Document doc, Element elem) { // set the target of the gaze if (this.target != null && !this.target.isEmpty()) elem.setAttribute(TARGET_ATTR, this.target); // set the offset values next if (this.offsetDirection == Direction.POLAR) { // the angle is in a polar fashion, but make sure it isn't 0 if (this.polarAngle != 0.0f) { elem.setAttribute(OFFSET_DIRECTION_ATTR, this.offsetDirection .toString()); elem.setAttribute(POLAR_ANGLE_ATTR, String .valueOf(this.polarAngle)); } } // the direction is known, but make sure it isn't 0 else if (this.offsetAngle != 0.0f) { elem.setAttribute(OFFSET_DIRECTION_ATTR, this.offsetDirection .toString()); elem.setAttribute(OFFSET_ANGLE_ATTR, String .valueOf(this.offsetAngle)); } // finally add any modalities that are wanted for (Modality mode : this.modality) { Element m = doc.createElement(MODALITY_ELEMENT); m.setTextContent(mode.toString()); elem.appendChild(m); } } @Override protected String getElementName() { return BehaviorType.GAZE.elementName; } }

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bml_lib
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:44:05 2011