proactiveTagging.h

Go to the documentation of this file.

/*
 * Copyright (C) 2015 WYSIWYD Consortium, European Commission FP7 Project ICT-612139
 * Authors: Grégoire Pointeau, Tobias Fischer, Maxime Petit
 * email:   greg.pointeau@gmail.com, t.fischer@imperial.ac.uk, m.petit@imperial.ac.uk
 * 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
*/

#include <yarp/os/all.h>

namespace icubclient {
    class ICubClient;
}

class proactiveTagging : public yarp::os::RFModule {
protected:

    icubclient::ICubClient  *iCub; 

    double      period;

    std::string SAMRpc; 
    std::string touchDetectorRpc; 

    yarp::os::Port   rpcPort; 
    yarp::os::Port   portToSAM; 
    yarp::os::Port   portToPasar; 
    yarp::os::BufferedPort<yarp::os::Bottle>   portFromTouchDetector;  

    std::string      GrammarAskNameAgent; 
    std::string      GrammarAskNameObject; 
    std::string      GrammarAskNameBodypart; 

    std::string      babblingArm; 

    double  thresholdDistinguishObjectsRatio; 
    double  thresholdSalienceDetection; 

    //Configure
    void configureOPC(yarp::os::ResourceFinder &rf);
    void subPopulateObjects(yarp::os::Bottle* objectList, bool addOrRetrieve);
    void subPopulateBodyparts(yarp::os::Bottle* bodyPartList, yarp::os::Bottle* bodyPartJointList, bool addOrRetrieve);

    //objectTagging
    yarp::os::Bottle   recogName(std::string entityType);

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

    bool setPasarPointing(bool on);

public:
    yarp::os::Bottle  exploreUnknownEntity(const yarp::os::Bottle &bInput);

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

    std::string getBestEntity(std::string sTypeTarget);


    yarp::os::Bottle getNameFromSAM(std::string sNameTarget, std::string currentEntityType);

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

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

    bool interruptModule();

    bool close();

    double getPeriod() {
        return period;
    }

    bool updateModule();

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