pasar.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-

/*
* Copyright (C) 2014 ICUBCLIENT Consortium, European Commission FP7 Project IST-270490
* Authors: Stéphane Lallée, Grégoire Pointeau
* email:   stephane.lallee@gmail.com, gregoire.pointeau@inserm.fr
* website: https://github.com/robotology/icub-client/
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* $icub-client/license/gpl.txt
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/

#ifndef _PASAR_MODULE_H_
#define _PASAR_MODULE_H_

#include <utility>
#include "icubclient/clients/icubClient.h"
#include "icubclient/clients/opcClient.h"

struct ObjectModel
{
    icubclient::Object o;
    double speed;
    double acceleration;
    int restingSteps;
    double lastTimeSeen;
    bool present;
};


class PasarModule : public yarp::os::RFModule {
protected:
    //Parameter
    double pTopDownAppearanceBurst;         
    double pTopDownDisappearanceBurst;      
    double pTopDownAccelerationCoef;        
    double pExponentialDecrease;            
    double pTopDownWaving;                  
    double thresholdMovementAccelAgent;     
    double thresholdMovementAccelObject;    
    double thresholdWaving;                 
    double thresholdPointing;               
    double thresholdSaliency;               
    double dthresholdAppear;                
    double dthresholdDisappear;             
    double dBurstOfPointing;                

    double lastTimeWaving;                  
    double lastTimePointing;                

    bool checkWaving;                       
    bool checkPointing;                     
    icubclient::ICubClient  *iCub;

    yarp::os::Port handlerPort;             

    yarp::sig::VectorOf<double> rightHandt1;          
    yarp::sig::VectorOf<double> rightHandt2;          
    yarp::sig::VectorOf<double> leftHandt1;           
    yarp::sig::VectorOf<double> leftHandt2;           

    std::pair<bool, bool> presentRightHand; 
    std::pair<bool, bool> presentLeftHand;  

    std::map<int, ObjectModel>  presentObjectsLastStep;
    std::map<int, std::pair<double, double> > presentLastSpeed;
    std::map<int, std::pair<double, double> > presentCurrentSpeed;
    std::map<int, ObjectModel>  OPCEntities;

    bool isPointing;                        
    bool isWaving;                          
    double initTime;

    void saliencyTopDown();

    void saliencyNormalize();

    void saliencyLeakyIntegration();

    bool saliencyPointing();

    bool saliencyWaving();
    void initializeMapTiming();

public:
    bool configure(yarp::os::ResourceFinder &rf); // configure all the module parameters and return true if successful
    bool interruptModule();                       // interrupt, e.g., the ports 
    bool close();                                 // close and shut down the module
    bool respond(const yarp::os::Bottle& command, yarp::os::Bottle& reply);
    double getPeriod();
    bool updateModule();
};

#endif