11#ifndef __EMOTIONINTERFACEMODULE__
12#define __EMOTIONINTERFACEMODULE__
22#include <yarp/os/all.h>
23#include <yarp/dev/PolyDriver.h>
24#include <yarp/dev/IPositionControl.h>
25#include <yarp/sig/all.h>
27using namespace yarp::os;
28using namespace yarp::sig;
60 virtual void report(
const PortInfo &info);
82 BufferedPort<Bottle> _outputPort;
85 size_t _highlevelemotions{};
86 size_t _numberOfColors{};
87 size_t _eyebrowmaskemotions{};
88 size_t _mouthmaskemotions{};
92 std::map<std::string, std::string > _bitmask_emotion_table;
93 std::map<std::string, std::string > _color_table;
99 int _initEmotionTrigger{};
102 yarp::dev::PolyDriver _poly;
103 yarp::dev::IPositionControl* _iPos{
nullptr };
104 double _min{ 0.0 }, _max{ 0.0 };
105 size_t _joint_eylids{ 0 };
109 int getIndex(std::string
cmd);
110 bool writePort(
const char*
cmd);
111 double getEyelidsTarget(
const char eli0,
const char eli1);
118 bool configure(ResourceFinder& config)
override;
119 bool close()
override;
123 bool respond(
const Bottle &command,Bottle &reply)
override;
131 bool setAll(
const std::string
cmd)
override;
132 bool setRaw(
const std::string
cmd)
override;
virtual void report(const PortInfo &info)
EmotionInitReport(EmotionInterfaceModule *_emo)
EmotionInterface Module class.
bool setMouth(const std::string cmd) override
bool setRaw(const std::string cmd) override
double getPeriod() override
bool setAll(const std::string cmd) override
bool setBrightness(const string &cmd)
bool setEyelids(const std::string cmd) override
bool setLeftEyebrow(const std::string cmd) override
bool setRightEyebrow(const std::string cmd) override
bool interruptModule() override
bool configure(ResourceFinder &config) override
bool setColor(const string &cmd)
bool setMask(const Bottle &cmd)
~EmotionInterfaceModule() override=default
bool updateModule() override
bool respond(const Bottle &command, Bottle &reply) override
Interface for the Facial Expressions.
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.