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Project: bml_realizer
License: BSD
Dependencies:
Used by:
None
All Packages
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edu::wpi::hri::bml::realizer::ControlComm Class Reference
List of all members.
Public Member Functions |
| | ControlComm (Logger logger, NodeHandle handle) |
| byte | sendFace (FaceBehavior face, SyncPoint point) |
| byte | sendGaze (GazeBehavior gaze, SyncPoint point) |
| byte | sendGesture (GestureBehavior gesture, SyncPoint point) |
| byte | sendHead (HeadBehavior head, SyncPoint point) |
| byte | sendLips (LipsBehavior lips, SyncPoint point) |
| byte | sendLocomotion (LocomotionBehavior locomotion, SyncPoint point) |
| byte | sendSpeech (SpeechBehavior speech, SyncPoint point) |
Private Attributes |
final ServiceClient
< BMLFace.Request,
BMLFace.Response, BMLFace > | faceSrv |
final ServiceClient
< BMLGaze.Request,
BMLGaze.Response, BMLGaze > | gazeSrv |
final ServiceClient
< BMLGesture.Request,
BMLGesture.Response,
BMLGesture > | gestureSrv |
final ServiceClient
< BMLHead.Request,
BMLHead.Response, BMLHead > | headSrv |
final ServiceClient
< BMLLips.Request,
BMLLips.Response, BMLLips > | lipsSrv |
final ServiceClient
< BMLLocomotion.Request,
BMLLocomotion.Response,
BMLLocomotion > | locomotionSrv |
| final Logger | logger |
final ServiceClient
< BMLSpeech.Request,
BMLSpeech.Response, BMLSpeech > | speechSrv |
Detailed Description
The control comm object is how all of the realizer should talk to the control node(s). This object sets up the service clients to all of the services that are required in order to run the realizer. Each service corresponds to a behavior which can be executed. The behavior information is taken from the BML standard and translated into ROS messages and services. Below are the services which are required by the control comm object, and thereby required by the BML Realizer node:
- Author:
- Aaron Holroyd (aholroyd (at) wpi (dot) edu)
Definition at line 73 of file ControlComm.java.
Constructor & Destructor Documentation
| edu::wpi::hri::bml::realizer::ControlComm::ControlComm |
( |
Logger |
logger, |
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NodeHandle |
handle | |
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) |
| | [inline] |
Create a new comm object. The given handle needs to be the path up to but not including control. This will often be the default node handle.
- Parameters:
-
| logger | The logger object to use. |
| handle | The handle to connect the services to. |
Definition at line 93 of file ControlComm.java.
Member Function Documentation
| byte edu::wpi::hri::bml::realizer::ControlComm::sendFace |
( |
FaceBehavior |
face, |
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SyncPoint |
point | |
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) |
| | [inline] |
Send a face request to ensure that the given face behavior is at the point which is also specified.
- Parameters:
-
| face | The behavior face information. |
| point | The point which the face behavior should be at. |
- Returns:
- The value of the status flag as returned by the service call. If the service returned null, just return FAILURE, else return INVALID.
Definition at line 121 of file ControlComm.java.
| byte edu::wpi::hri::bml::realizer::ControlComm::sendGaze |
( |
GazeBehavior |
gaze, |
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SyncPoint |
point | |
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) |
| | [inline] |
Send a gaze request to ensure that the given gaze behavior is at the point which is also specified.
- Parameters:
-
| gaze | The behavior gaze information. |
| point | The point which the gaze behavior should be at. |
- Returns:
- The value of the status flag as returned by the service call. If the service returned null, just return FAILURE, else return INVALID.
Definition at line 160 of file ControlComm.java.
| byte edu::wpi::hri::bml::realizer::ControlComm::sendGesture |
( |
GestureBehavior |
gesture, |
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SyncPoint |
point | |
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) |
| | [inline] |
Send a gesture request to ensure that the given gesture behavior is at the point which is also specified.
- Parameters:
-
| gesture | The behavior gesture information. |
| point | The point which the gesture behavior should be at. |
- Returns:
- The value of the status flag as returned by the service call. If the service returned null, just return FAILURE, else return INVALID.
Definition at line 199 of file ControlComm.java.
| byte edu::wpi::hri::bml::realizer::ControlComm::sendHead |
( |
HeadBehavior |
head, |
|
|
SyncPoint |
point | |
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) |
| | [inline] |
Send a head request to ensure that the given head behavior is at the point which is also specified.
- Parameters:
-
| head | The behavior head information. |
| point | The point which the head behavior should be at. |
- Returns:
- The value of the status flag as returned by the service call. If the service returned null, just return FAILURE, else return INVALID.
Definition at line 245 of file ControlComm.java.
| byte edu::wpi::hri::bml::realizer::ControlComm::sendLips |
( |
LipsBehavior |
lips, |
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SyncPoint |
point | |
|
) |
| | [inline] |
Send a lips request to ensure that the given lips behavior is at the point which is also specified.
- Parameters:
-
| lips | The behavior lips information. |
| point | The point which the lips behavior should be at. |
- Returns:
- The value of the status flag as returned by the service call. If the service returned null, just return FAILURE, else return INVALID.
Definition at line 277 of file ControlComm.java.
| byte edu::wpi::hri::bml::realizer::ControlComm::sendLocomotion |
( |
LocomotionBehavior |
locomotion, |
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SyncPoint |
point | |
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) |
| | [inline] |
Send a locomotion request to ensure that the given locomotion behavior is at the point which is also specified.
- Parameters:
-
| locomotion | The behavior locomotion information. |
| point | The point which the locomotion behavior should be at. |
- Returns:
- The value of the status flag as returned by the service call. If the service returned null, just return FAILURE, else return INVALID.
Definition at line 310 of file ControlComm.java.
| byte edu::wpi::hri::bml::realizer::ControlComm::sendSpeech |
( |
SpeechBehavior |
speech, |
|
|
SyncPoint |
point | |
|
) |
| | [inline] |
Send a speech request to ensure that the given speech behavior is at the point which is also specified.
- Parameters:
-
| speech | The behavior speech information. |
| point | The point which the speech behavior should be at. |
- Returns:
- The value of the status flag as returned by the service call. If the service returned null, just return FAILURE, else return INVALID.
Definition at line 346 of file ControlComm.java.
Member Data Documentation
The documentation for this class was generated from the following file:
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