#include <proactiveTagging.h>

Inheritance diagram for proactiveTagging:

Public Member Functions
yarp::os::Bottle	exploreUnknownEntity (const yarp::os::Bottle &bInput)
	Explore an unknown entity by asking for the name (response via speech recognition) More...

yarp::os::Bottle	searchingEntity (const yarp::os::Bottle &bInput)
	Search for the entity corresponding to a certain name in all the unknown entities. More...

std::string	getBestEntity (std::string sTypeTarget)
	Loop through all objects in the OPC, and check their saliency. More...

yarp::os::Bottle	getNameFromSAM (std::string sNameTarget, std::string currentEntityType)
	Send request to SAM to use its face recognition to recognise partner. More...

yarp::os::Bottle	exploreTactileEntityWithName (yarp::os::Bottle bInput)
	Explore an unknown tactile entity (e.g. More...

bool	configure (yarp::os::ResourceFinder &rf)

bool	interruptModule ()

bool	close ()

double	getPeriod ()

bool	updateModule ()

bool	respond (const yarp::os::Bottle &cmd, yarp::os::Bottle &reply)

Protected Member Functions
void	configureOPC (yarp::os::ResourceFinder &rf)
	Read config file and fill OPC accordingly. More...

void	subPopulateObjects (yarp::os::Bottle *objectList, bool addOrRetrieve)

void	subPopulateBodyparts (yarp::os::Bottle bodyPartList, yarp::os::Bottle bodyPartJointList, bool addOrRetrieve)

yarp::os::Bottle	recogName (std::string entityType)
	Recognize the name of an unknown entity (communicate with speech recognizer) More...

std::string	getBodyPartNameForSpeech (const std::string bodypart)
	Return a "nice" version of a body part name, eg given "index" as input, it returns "index finger". More...

bool	setPasarPointing (bool on)
	Ask pasar to increase saliency when a human is pointing to an object. More...

Protected Attributes
icubclient::ICubClient *	iCub
	icubclient More...

double	period

std::string	SAMRpc
	Name of SAM RPC port. More...

std::string	touchDetectorRpc
	Name of touchDetector RPC port. More...

yarp::os::Port	rpcPort
	Response port. More...

yarp::os::Port	portToSAM
	Port used to communicate with SAM. More...

yarp::os::Port	portToPasar
	Port used to communicate with pasar. More...

yarp::os::BufferedPort< yarp::os::Bottle >	portFromTouchDetector
	Port used to communicate with touch detector. More...

std::string	GrammarAskNameAgent
	Name of grammar file when asking for name of agent. More...

std::string	GrammarAskNameObject
	Name of grammar file when asking for name of object. More...

std::string	GrammarAskNameBodypart
	Name of grammar file when asking for name of bodypart. More...

std::string	babblingArm
	side of the babbling arm : left or right More...

double	thresholdDistinguishObjectsRatio
	ratio of saliency needed to detect if 1 object is more salient that the other More...

double	thresholdSalienceDetection
	value of saliency needed to detect if 1 object is more salient that the other More...

Detailed Description

Definition at line 27 of file proactiveTagging.h.

Member Function Documentation

◆ close()

bool proactiveTagging::close ( )

Definition at line 109 of file proactiveTagging.cpp.

◆ configure()

bool proactiveTagging::configure ( yarp::os::ResourceFinder & rf )

Definition at line 30 of file proactiveTagging.cpp.

◆ configureOPC()

void proactiveTagging::configureOPC ( yarp::os::ResourceFinder & rf )

protected

Read config file and fill OPC accordingly.

Parameters

rf	- resourceFinder instance

Definition at line 235 of file helpers.cpp.

◆ exploreTactileEntityWithName()

yarp::os::Bottle proactiveTagging::exploreTactileEntityWithName ( yarp::os::Bottle bInput )

Explore an unknown tactile entity (e.g.

fingertips), when knowing the name

Parameters

bInput Bottle with (exploreTactileEntityWithName entityType entityName) (eg: exploreTactileEntityWithName bodypart index) - entityType must be "bodypart"!

Returns: Bottle with the result (ack skin_patch_number) or (nack error_message)

Definition at line 268 of file proactiveTagging.cpp.

◆ exploreUnknownEntity()

Bottle proactiveTagging::exploreUnknownEntity ( const yarp::os::Bottle & bInput )

Explore an unknown entity by asking for the name (response via speech recognition)

Parameters

bInput exploreUnknownEntity entityType entityName (eg: exploreUnknownEntity agent unknown_25)

Returns: Bottle with (success entityType) or (nack errorMessage)

Definition at line 360 of file proactiveTagging.cpp.

◆ getBestEntity()

std::string proactiveTagging::getBestEntity ( std::string sTypeTarget )

Loop through all objects in the OPC, and check their saliency.

Return the name of the object with the highest saliency

Parameters

sTypeTarget - type of the target. For now, only ICUBCLIENT_OPC_ENTITY_OBJECT is supported

Returns: Name of the most salient object

Definition at line 70 of file helpers.cpp.

◆ getBodyPartNameForSpeech()

std::string proactiveTagging::getBodyPartNameForSpeech ( const std::string bodypart )

protected

Return a "nice" version of a body part name, eg given "index" as input, it returns "index finger".

Parameters

bodypart - "Plain" version of a body part name, eg "index"

Returns: "Nice" version of a body part name for speech synthesis, eg "index finger"

Definition at line 266 of file helpers.cpp.

◆ getNameFromSAM()

Bottle proactiveTagging::getNameFromSAM	(	std::string	sNameTarget,
		std::string	currentEntityType
	)

Send request to SAM to use its face recognition to recognise partner.

Parameters

sNameTarget	name of the entity to detect, typically "partner"
currentEntityType	type of the entity, typically ICUBCLIENT_OPC_ENTITY_AGENT

Returns: Bottle. In case of success: (success entityType) where entityType = agent, in case of failure: (nack)

Definition at line 219 of file proactiveTagging.cpp.

◆ getPeriod()

double proactiveTagging::getPeriod ( )

inline

Definition at line 125 of file proactiveTagging.h.

◆ interruptModule()

bool proactiveTagging::interruptModule ( )

Definition at line 101 of file proactiveTagging.cpp.

◆ recogName()

Bottle proactiveTagging::recogName ( std::string entityType )

protected

Recognize the name of an unknown entity (communicate with speech recognizer)

Returns: Bottle with either name of the object or (error errorDescription)

Definition at line 138 of file helpers.cpp.

◆ respond()

bool proactiveTagging::respond	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	reply
	)

Definition at line 128 of file proactiveTagging.cpp.

◆ searchingEntity()

Bottle proactiveTagging::searchingEntity ( const yarp::os::Bottle & bInput )

Search for the entity corresponding to a certain name in all the unknown entities.

Parameters

bInput searchingEntity entityType entityName [verbose] (eg: searchingEntity object octopus)

Returns: Bottle consisting of two elements. First element is {error; warning; success} Second element is: information about the action

Definition at line 484 of file proactiveTagging.cpp.

◆ setPasarPointing()

bool proactiveTagging::setPasarPointing ( bool on )

protected

Ask pasar to increase saliency when a human is pointing to an object.

Parameters

on	- whether pasar should increase the saliency

Returns: True if communication to pasar was successful, false otherwise

Definition at line 46 of file helpers.cpp.

◆ subPopulateBodyparts()

void proactiveTagging::subPopulateBodyparts	(	yarp::os::Bottle *	bodyPartList,
		yarp::os::Bottle *	bodyPartJointList,
		bool	addOrRetrieve
	)

protected

Definition at line 198 of file helpers.cpp.

◆ subPopulateObjects()

void proactiveTagging::subPopulateObjects	(	yarp::os::Bottle *	objectList,
		bool	addOrRetrieve
	)

protected

Definition at line 29 of file helpers.cpp.

◆ updateModule()

bool proactiveTagging::updateModule ( )

Definition at line 215 of file proactiveTagging.cpp.

Member Data Documentation

◆ babblingArm

std::string proactiveTagging::babblingArm

protected

side of the babbling arm : left or right

Definition at line 46 of file proactiveTagging.h.

◆ GrammarAskNameAgent

std::string proactiveTagging::GrammarAskNameAgent

protected

Name of grammar file when asking for name of agent.

Definition at line 42 of file proactiveTagging.h.

◆ GrammarAskNameBodypart

std::string proactiveTagging::GrammarAskNameBodypart

protected

Name of grammar file when asking for name of bodypart.

Definition at line 44 of file proactiveTagging.h.

◆ GrammarAskNameObject

std::string proactiveTagging::GrammarAskNameObject

protected

Name of grammar file when asking for name of object.

Definition at line 43 of file proactiveTagging.h.

◆ iCub

icubclient::ICubClient* proactiveTagging::iCub

protected

icubclient

Definition at line 30 of file proactiveTagging.h.

◆ period

double proactiveTagging::period

protected

Definition at line 32 of file proactiveTagging.h.

◆ portFromTouchDetector

yarp::os::BufferedPort<yarp::os::Bottle> proactiveTagging::portFromTouchDetector

protected

Port used to communicate with touch detector.

Definition at line 40 of file proactiveTagging.h.

◆ portToPasar

yarp::os::Port proactiveTagging::portToPasar

protected

Port used to communicate with pasar.

Definition at line 39 of file proactiveTagging.h.

◆ portToSAM

yarp::os::Port proactiveTagging::portToSAM

protected

Port used to communicate with SAM.

Definition at line 38 of file proactiveTagging.h.

◆ rpcPort

yarp::os::Port proactiveTagging::rpcPort

protected

Response port.

Definition at line 37 of file proactiveTagging.h.

◆ SAMRpc

std::string proactiveTagging::SAMRpc

protected

Name of SAM RPC port.

Definition at line 34 of file proactiveTagging.h.

◆ thresholdDistinguishObjectsRatio

double proactiveTagging::thresholdDistinguishObjectsRatio

protected

ratio of saliency needed to detect if 1 object is more salient that the other

Definition at line 48 of file proactiveTagging.h.

◆ thresholdSalienceDetection

double proactiveTagging::thresholdSalienceDetection

protected

value of saliency needed to detect if 1 object is more salient that the other

Definition at line 49 of file proactiveTagging.h.

◆ touchDetectorRpc

std::string proactiveTagging::touchDetectorRpc

protected

Name of touchDetector RPC port.

Definition at line 35 of file proactiveTagging.h.

The documentation for this class was generated from the following files:

/home/travis/build/robotology/icub-hri/src/modules/proactiveTagging/include/proactiveTagging.h
/home/travis/build/robotology/icub-hri/src/modules/proactiveTagging/src/helpers.cpp
/home/travis/build/robotology/icub-hri/src/modules/proactiveTagging/src/proactiveTagging.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ close()

◆ configure()

◆ configureOPC()

◆ exploreTactileEntityWithName()

◆ exploreUnknownEntity()

◆ getBestEntity()

◆ getBodyPartNameForSpeech()

◆ getNameFromSAM()

◆ getPeriod()

◆ interruptModule()

◆ recogName()

◆ respond()

◆ searchingEntity()

◆ setPasarPointing()

◆ subPopulateBodyparts()

◆ subPopulateObjects()

◆ updateModule()

Member Data Documentation

◆ babblingArm

◆ GrammarAskNameAgent

◆ GrammarAskNameBodypart

◆ GrammarAskNameObject

◆ iCub

◆ period

◆ portFromTouchDetector

◆ portToPasar

◆ portToSAM

◆ rpcPort

◆ SAMRpc

◆ thresholdDistinguishObjectsRatio

◆ thresholdSalienceDetection

◆ touchDetectorRpc