social_gaze_server.SocialGaze Class Reference

List of all members.

Public Member Functions
def	__init__
def	update
Public Attributes
	gaze_goal_strs
Private Member Functions
def	_execute_gaze_action
	Callback function for receiving gaze commands.
def	_get_ee_pos
def	_get_gaze_goal
def	_get_next_glance_point
def	_get_next_nod_point
def	_get_next_shake_point
def	_start_glance
def	_start_nod
def	_start_shake
Static Private Member Functions
def	_array2point
def	_filter_look_at_position
def	_is_the_same
def	_point2array
Private Attributes
	_current_focus_point
	_current_gaze_action
	_default_focus_point
	_down_focus_point
	_face_pos
	_gaze_action_server
	Server for gaze requested gaze actions.
	_glance_counter
	_head_action_client
	Action client for sending commands to the head.
	_head_goal
	_is_action_complete
	_n_nods
	_n_shakes
	_no_interrupt
	_nod_counter
	_nod_positions
	_prev_gaze_action
	_prev_target_focus_point
	_shake_counter
	_shake_positions
	_target_focus_point
	_tf_listener
	Service client for arm states.

---

Detailed Description

Handles where to point robot's head

Definition at line 32 of file social_gaze_server.py.

---

Constructor & Destructor Documentation

def social_gaze_server.SocialGaze.__init__

(

self

)

Definition at line 35 of file social_gaze_server.py.

---

Member Function Documentation

def social_gaze_server.SocialGaze._array2point

(

a

)

[static, private]

Make array into Point msg

Args:
    a (array)

Returns:
    Point

Definition at line 174 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._execute_gaze_action	(		self,
			goal
	)		[private]

Callback function for receiving gaze commands.

Get 3DOF pose of end effector

Args:
    goal (GazeGoal): what type of action to perform next

Definition at line 247 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._filter_look_at_position	(		current,
			target
	)		[static, private]

If head goal is too far away, returns an intermediate position
   to limit speed

Args:
    current (Point): current head goal
    target (Point): new head goal

Returns:
    Point

Definition at line 186 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._get_ee_pos

(

self

)

[private]

Get 3DOF pose of end effector

Returns:
    Point: location of wrist of end effector
    (could change to be finger tips)

Definition at line 225 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._get_gaze_goal	(		self,
			req
	)		[private]

Return current gaze goal

Args:
    req (GetGazeGoalRequest) : Unused
Returns:
    GetGazeGoalResponse

Definition at line 212 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._get_next_glance_point	(		self,
			current,
			target
	)		[private]

Get next point to look at while glancing

Args:
    current (Point): current head goal
    target (Point): new head goal

Returns:
    Point

Definition at line 331 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._get_next_nod_point	(		self,
			current,
			target
	)		[private]

Get next point to look at while nodding

Args:
    current (Point): current head goal
    target (Point): new head goal

Returns:
    Point

Definition at line 310 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._get_next_shake_point	(		self,
			current,
			target
	)		[private]

Get next point to look at while shaking

Args:
    current (Point): current head goal
    target (Point): new head goal

Returns:
    Point

Definition at line 349 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._is_the_same	(		current,
			target
	)		[static, private]

Get 3DOF pose of end effector

Args:
    current (array): (x, y, z) of point
    target (array): (x, y, z) of point

Returns:
    bool

Definition at line 147 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._point2array

(

p

)

[static, private]

Make Point msg into array

Args:
    p (Point)

Returns:
    array

Definition at line 162 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._start_glance

(

self

)

[private]

Start glance action

Definition at line 296 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._start_nod

(

self

)

[private]

Start nod action

Definition at line 289 of file social_gaze_server.py.

def social_gaze_server.SocialGaze._start_shake

(

self

)

[private]

Start shake action

Definition at line 303 of file social_gaze_server.py.

def social_gaze_server.SocialGaze.update

(

self

)

Update goal for head movement

Definition at line 98 of file social_gaze_server.py.

---

Member Data Documentation

social_gaze_server.SocialGaze::_current_focus_point [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_current_gaze_action [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_default_focus_point [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_down_focus_point [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_face_pos [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_gaze_action_server [private]

Server for gaze requested gaze actions.

Definition at line 38 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_glance_counter [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_head_action_client [private]

Action client for sending commands to the head.

Definition at line 36 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_head_goal [private]

Definition at line 36 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_is_action_complete [private]

Definition at line 38 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_n_nods [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_n_shakes [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_no_interrupt [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_nod_counter [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_nod_positions [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_prev_gaze_action [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_prev_target_focus_point [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_shake_counter [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_shake_positions [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_target_focus_point [private]

Definition at line 35 of file social_gaze_server.py.

social_gaze_server.SocialGaze::_tf_listener [private]

Service client for arm states.

Definition at line 37 of file social_gaze_server.py.

social_gaze_server.SocialGaze::gaze_goal_strs

Definition at line 35 of file social_gaze_server.py.

---

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

• social_gaze_server.py