Main entry point to libhri. This is most likely what you want to use. Use example: More...

#include <hri.h>

Public Member Functions
std::map< ID, BodyWeakConstPtr >	getBodies () const
	Returns the list of currently detected bodies, mapped to their IDs. More...

std::map< ID, FaceWeakConstPtr >	getFaces () const
	Returns the list of currently detected faces, mapped to their IDs. More...

std::map< ID, PersonWeakConstPtr >	getPersons () const
	Returns the list of all known persons, whether or not they are currently actively detected (eg, seen). The persons are mapped to their IDs. More...

std::map< ID, PersonWeakConstPtr >	getTrackedPersons () const
	Returns the list of currently detected persons, mapped to their IDs. More...

std::map< ID, VoiceWeakConstPtr >	getVoices () const
	Returns the list of currently detected voices, mapped to their IDs. More...

	HRIListener ()

void	onBody (std::function< void(BodyWeakConstPtr)> callback)
	Registers a callback function, to be invoked everytime a new body is detected. More...

void	onBodyLost (std::function< void(ID)> callback)
	Registers a callback function, to be invoked everytime a previously tracked body is lost (eg, not detected anymore) More...

void	onFace (std::function< void(FaceWeakConstPtr)> callback)
	Registers a callback function, to be invoked everytime a new face is detected. More...

void	onFaceLost (std::function< void(ID)> callback)
	Registers a callback function, to be invoked everytime a previously tracked face is lost (eg, not detected anymore) More...

void	onPerson (std::function< void(PersonWeakConstPtr)> callback)
	Registers a callback function, to be invoked everytime a new person is detected. More...

void	onPersonLost (std::function< void(ID)> callback)
	Registers a callback function, to be invoked everytime a person is lost. This can only happen for anonymous persons. Identified persons will never be removed from the list of all known persons. More...

void	onTrackedPerson (std::function< void(PersonWeakConstPtr)> callback)
	Registers a callback function, to be invoked everytime a new person is detected and actively tracked (eg, currently seen). More...

void	onTrackedPersonLost (std::function< void(ID)> callback)
	Registers a callback function, to be invoked everytime a previously tracked person is lost. More...

void	onVoice (std::function< void(VoiceWeakPtr)> callback)
	Registers a callback function, to be invoked everytime a new voice is detected. More...

void	onVoiceLost (std::function< void(ID)> callback)
	Registers a callback function, to be invoked everytime a previously tracked voice is lost (eg, not detected anymore) More...

void	setReferenceFrame (const std::string &frame)

	~HRIListener ()

Private Member Functions
void	init ()

void	onTrackedFeature (FeatureType feature, hri_msgs::IdsListConstPtr tracked)

Private Attributes
std::string	_reference_frame

tf2_ros::Buffer	_tf_buffer

tf2_ros::TransformListener	_tf_listener

std::map< ID, BodyConstPtr >	bodies

std::vector< std::function< void(BodyWeakConstPtr)> >	body_callbacks

std::vector< std::function< void(ID)> >	body_lost_callbacks

std::vector< std::function< void(FaceWeakConstPtr)> >	face_callbacks

std::vector< std::function< void(ID)> >	face_lost_callbacks

std::map< ID, FaceConstPtr >	faces

std::map< FeatureType, ros::Subscriber >	feature_subscribers_

ros::NodeHandle	node_

std::vector< std::function< void(PersonConstPtr)> >	person_callbacks

std::vector< std::function< void(ID)> >	person_lost_callbacks

std::vector< std::function< void(PersonConstPtr)> >	person_tracked_callbacks

std::vector< std::function< void(ID)> >	person_tracked_lost_callbacks

std::map< ID, PersonConstPtr >	persons

std::map< ID, PersonConstPtr >	tracked_persons

std::vector< std::function< void(VoiceWeakPtr)> >	voice_callbacks

std::vector< std::function< void(ID)> >	voice_lost_callbacks

std::map< ID, VoiceConstPtr >	voices

Detailed Description

Main entry point to libhri. This is most likely what you want to use. Use example:

ros::init(argc, argv, "test_libhri");
ros::NodeHandle nh;
 
HRIListener hri_listener;
 
while (ros::ok()) {
 
  auto faces = hri_listener.getFaces();
 
  for (auto const& face : faces)
  {
    cout << "Face " << face.first << " seen!";
  }
}

Definition at line 70 of file hri.h.

Constructor & Destructor Documentation

◆ HRIListener()

HRIListener::HRIListener ( )

Definition at line 44 of file hri.cpp.

◆ ~HRIListener()

HRIListener::~HRIListener ( )

Definition at line 49 of file hri.cpp.

Member Function Documentation

◆ getBodies()

map< ID, BodyWeakConstPtr > HRIListener::getBodies ( ) const

Returns the list of currently detected bodies, mapped to their IDs.

Bodies are returned as constant std::weak_ptr as they may disappear at any point.

Definition at line 76 of file hri.cpp.

◆ getFaces()

map< ID, FaceWeakConstPtr > HRIListener::getFaces ( ) const

Returns the list of currently detected faces, mapped to their IDs.

Faces are returned as constant std::weak_ptr as they may disappear at any point.

Definition at line 62 of file hri.cpp.

◆ getPersons()

map< ID, PersonWeakConstPtr > HRIListener::getPersons ( ) const

Returns the list of all known persons, whether or not they are currently actively detected (eg, seen). The persons are mapped to their IDs.

Persons are returned as constant std::weak_ptr: while person do not disappear in general, anonymous persons (created because, eg, a face has been detected, and we can infer a yet-to-be-recognised person does exist) can disappear.

Definition at line 104 of file hri.cpp.

◆ getTrackedPersons()

map< ID, PersonWeakConstPtr > HRIListener::getTrackedPersons ( ) const

Returns the list of currently detected persons, mapped to their IDs.

Persons are returned as constant std::weak_ptr: while person do not disappear in general, anonymous persons (created because, eg, a face has been detected, and we can infer a yet-to-be-recognised person does exist) can disappear.

Definition at line 139 of file hri.cpp.

◆ getVoices()

map< ID, VoiceWeakConstPtr > HRIListener::getVoices ( ) const

Returns the list of currently detected voices, mapped to their IDs.

Voices are returned as constant std::weak_ptr as they may disappear at any point.

Definition at line 90 of file hri.cpp.

◆ init()

void HRIListener::init ( )

private

Definition at line 174 of file hri.cpp.

◆ onBody()

void hri::HRIListener::onBody ( std::function< void(BodyWeakConstPtr)> callback )

inline

Registers a callback function, to be invoked everytime a new body is detected.

Definition at line 109 of file hri.h.

◆ onBodyLost()

void hri::HRIListener::onBodyLost ( std::function< void(ID)> callback )

inline

Registers a callback function, to be invoked everytime a previously tracked body is lost (eg, not detected anymore)

Definition at line 117 of file hri.h.

◆ onFace()

void hri::HRIListener::onFace ( std::function< void(FaceWeakConstPtr)> callback )

inline

Registers a callback function, to be invoked everytime a new face is detected.

Definition at line 86 of file hri.h.

◆ onFaceLost()

void hri::HRIListener::onFaceLost ( std::function< void(ID)> callback )

inline

Registers a callback function, to be invoked everytime a previously tracked face is lost (eg, not detected anymore)

Definition at line 94 of file hri.h.

◆ onPerson()

void hri::HRIListener::onPerson ( std::function< void(PersonWeakConstPtr)> callback )

inline

Registers a callback function, to be invoked everytime a new person is detected.

Definition at line 161 of file hri.h.

◆ onPersonLost()

void hri::HRIListener::onPersonLost ( std::function< void(ID)> callback )

inline

Registers a callback function, to be invoked everytime a person is lost. This can only happen for anonymous persons. Identified persons will never be removed from the list of all known persons.

Definition at line 170 of file hri.h.

◆ onTrackedFeature()

void HRIListener::onTrackedFeature	(	FeatureType	feature,
		hri_msgs::IdsListConstPtr	tracked
	)

private

Definition at line 200 of file hri.cpp.

◆ onTrackedPerson()

void hri::HRIListener::onTrackedPerson ( std::function< void(PersonWeakConstPtr)> callback )

inline

Registers a callback function, to be invoked everytime a new person is detected and actively tracked (eg, currently seen).

Definition at line 187 of file hri.h.

◆ onTrackedPersonLost()

void hri::HRIListener::onTrackedPersonLost ( std::function< void(ID)> callback )

inline

Registers a callback function, to be invoked everytime a previously tracked person is lost.

Definition at line 195 of file hri.h.

◆ onVoice()

void hri::HRIListener::onVoice ( std::function< void(VoiceWeakPtr)> callback )

inline

Registers a callback function, to be invoked everytime a new voice is detected.

Definition at line 132 of file hri.h.

◆ onVoiceLost()

void hri::HRIListener::onVoiceLost ( std::function< void(ID)> callback )

inline

Registers a callback function, to be invoked everytime a previously tracked voice is lost (eg, not detected anymore)

Definition at line 140 of file hri.h.

◆ setReferenceFrame()

void hri::HRIListener::setReferenceFrame ( const std::string & frame )

inline

sets the reference frame from which the TF transformations of the persons will be returned (via Person::transform()).

By default, base_link.

Definition at line 206 of file hri.h.

Member Data Documentation

◆ _reference_frame

std::string hri::HRIListener::_reference_frame

private

Definition at line 241 of file hri.h.

◆ _tf_buffer

tf2_ros::Buffer hri::HRIListener::_tf_buffer

private

Definition at line 242 of file hri.h.

◆ _tf_listener

tf2_ros::TransformListener hri::HRIListener::_tf_listener

private

Definition at line 243 of file hri.h.

◆ bodies

std::map<ID, BodyConstPtr> hri::HRIListener::bodies

private

Definition at line 224 of file hri.h.

◆ body_callbacks

std::vector<std::function<void(BodyWeakConstPtr)> > hri::HRIListener::body_callbacks

private

Definition at line 225 of file hri.h.

◆ body_lost_callbacks

std::vector<std::function<void(ID)> > hri::HRIListener::body_lost_callbacks

private

Definition at line 226 of file hri.h.

◆ face_callbacks

std::vector<std::function<void(FaceWeakConstPtr)> > hri::HRIListener::face_callbacks

private

Definition at line 221 of file hri.h.

◆ face_lost_callbacks

std::vector<std::function<void(ID)> > hri::HRIListener::face_lost_callbacks

private

Definition at line 222 of file hri.h.

◆ faces

std::map<ID, FaceConstPtr> hri::HRIListener::faces

private

Definition at line 220 of file hri.h.

◆ feature_subscribers_

std::map<FeatureType, ros::Subscriber> hri::HRIListener::feature_subscribers_

private

Definition at line 218 of file hri.h.

◆ node_

ros::NodeHandle hri::HRIListener::node_

private

Definition at line 212 of file hri.h.

◆ person_callbacks

std::vector<std::function<void(PersonConstPtr)> > hri::HRIListener::person_callbacks

private

Definition at line 235 of file hri.h.

◆ person_lost_callbacks

std::vector<std::function<void(ID)> > hri::HRIListener::person_lost_callbacks

private

Definition at line 236 of file hri.h.

◆ person_tracked_callbacks

std::vector<std::function<void(PersonConstPtr)> > hri::HRIListener::person_tracked_callbacks

private

Definition at line 238 of file hri.h.

◆ person_tracked_lost_callbacks

std::vector<std::function<void(ID)> > hri::HRIListener::person_tracked_lost_callbacks

private

Definition at line 239 of file hri.h.

◆ persons

std::map<ID, PersonConstPtr> hri::HRIListener::persons

private

Definition at line 234 of file hri.h.

◆ tracked_persons

std::map<ID, PersonConstPtr> hri::HRIListener::tracked_persons

private

Definition at line 237 of file hri.h.

◆ voice_callbacks

std::vector<std::function<void(VoiceWeakPtr)> > hri::HRIListener::voice_callbacks

private

Definition at line 231 of file hri.h.

◆ voice_lost_callbacks

std::vector<std::function<void(ID)> > hri::HRIListener::voice_lost_callbacks

private

Definition at line 232 of file hri.h.

◆ voices

std::map<ID, VoiceConstPtr> hri::HRIListener::voices

private

Definition at line 228 of file hri.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ HRIListener()

◆ ~HRIListener()

Member Function Documentation

◆ getBodies()

◆ getFaces()

◆ getPersons()

◆ getTrackedPersons()

◆ getVoices()

◆ init()

◆ onBody()

◆ onBodyLost()

◆ onFace()

◆ onFaceLost()

◆ onPerson()

◆ onPersonLost()

◆ onTrackedFeature()

◆ onTrackedPerson()

◆ onTrackedPersonLost()

◆ onVoice()

◆ onVoiceLost()

◆ setReferenceFrame()

Member Data Documentation

◆ _reference_frame

◆ _tf_buffer

◆ _tf_listener

◆ bodies

◆ body_callbacks

◆ body_lost_callbacks

◆ face_callbacks

◆ face_lost_callbacks

◆ faces

◆ feature_subscribers_

◆ node_

◆ person_callbacks

◆ person_lost_callbacks

◆ person_tracked_callbacks

◆ person_tracked_lost_callbacks

◆ persons

◆ tracked_persons

◆ voice_callbacks

◆ voice_lost_callbacks

◆ voices