TalkingHead.h

Go to the documentation of this file.

/*******************************************************************************
 *  TalkingHead - A talking head for robots
 *  Copyright (C) 2012 AG Aktives Sehen <agas@uni-koblenz.de>
 *                     Universitaet Koblenz-Landau
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  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
 *  Library General Public License for more details.
 *
 *  You should have received a copy of the GNU Library General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
 *  MA 02110-1301  USA or see <http://www.gnu.org/licenses/>.
 *******************************************************************************/

#ifndef TALKING_HEAD_INCLUDE_TALKINGHEAD_H_
#define TALKING_HEAD_INCLUDE_TALKINGHEAD_H_

#include <OgreAnimation.h>
#include <OgreCamera.h>
#include <OgreConfigFile.h>
#include <OgreEntity.h>
#include <OgreLogManager.h>
#include <OgreMaterialManager.h>
#include <OgreMeshManager.h>
#include <OgreRenderWindow.h>
#include <OgreRoot.h>
#include <OgreSceneManager.h>
#include <OgreViewport.h>
#include <OgreWindowEventUtilities.h>

#include <QtGui>

#include <ros/callback_queue.h>
#include <ros/package.h>
#include <ros/ros.h>
#include <std_msgs/Empty.h>
#include <std_msgs/String.h>

#include <iostream>
#include <istream>
#include <map>
#include <string>
#include <vector>


class TalkingHead : public QWidget, public Ogre::FrameListener, public Ogre::WindowEventListener
{
    Q_OBJECT

    public:

        TalkingHead( QWidget *parent = 0, std::string mesh_string = "", std::vector< std::vector<float> > material_vector = std::vector< std::vector<float> >() );
        
        virtual ~TalkingHead();
        
        void initOgreSystem( void );
        
        void callbackVisemes( const std_msgs::Empty::ConstPtr& msg );
        void callbackTextForEmotion( const std_msgs::String::ConstPtr& msg );
        void callbackResetAnimation( const std_msgs::String::ConstPtr& msg);

        void subscribeWithNodeHandle( ros::NodeHandle node_handle );

    public slots:

        void updateOverlay();

    protected:

        virtual void paintEvent( QPaintEvent* event );
        virtual void resizeEvent( QResizeEvent* event );
        virtual void showEvent( QShowEvent* event );
        virtual void moveEvent( QMoveEvent* event );

    private:

        std::vector<Ogre::String>                               phones_;
        std::vector<Ogre::String>                               words_;

        Ogre::Root*                                             root_;
        Ogre::Camera*                                           camera_;
        Ogre::Viewport*                                         viewport_;
        Ogre::SceneManager*                                     scene_manager_;
        bool                                                    shut_down_;
        Ogre::RenderWindow*                                     window_;

        Ogre::MeshPtr                                           mesh_;
        std::string                                             mesh_string_;
        std::vector< std::vector<float> >                       material_vector_;
        Ogre::MaterialPtr                                       material_;
        Ogre::PoseList                                          pose_list_;
        int                                                     num_sub_meshes_;
        Ogre::AnimationStateSet*                                anim_set_;
        Ogre::AnimationState*                                   mouth_animation_state_;
        Ogre::String                                            mouth_animation_state_name_;
        Ogre::AnimationState*                                   eyebrows_animation_state_;
        Ogre::String                                            eyebrows_animation_state_name_;
        std::vector<Ogre::VertexAnimationTrack*>                vertex_animation_tracks_;
        Ogre::VertexPoseKeyFrame*                               manual_key_frame_;
        bool                                                    visemes_arrived_;
        bool                                                    words_arrived_;
        std::map<float, Ogre::String>                           word_map_;
        std::map<float, Ogre::String>                           viseme_map_;
        std::map<Ogre::String, Ogre::String>                    phonemes_;
        std::string                                             text_for_emotion_;

        QTimer*                                                 redraw_timer_;

        ros::Subscriber                                         viseme_subscriber_;
        ros::Subscriber                                         emotion_subscriber_;
        ros::Subscriber                                         talking_finished_subscriber_;

        std::vector<std::string>                                smileys_;
        bool                                                    angry_;
        bool                                                    smile_;
        bool                                                    sad_;
        bool                                                    rest_;
        bool                                                    surprised_;
        bool                                                    disgusted_;
        bool                                                    afraid_;

        virtual bool frameRenderingQueued( const Ogre::FrameEvent& evt );

        void createAnimations( std::string mesh_file );

        void initAnimationStates();

        void initPhoneMap();

        std::map<float, Ogre::String> createVisemeMap();

        std::map<float, Ogre::String> createWordMap();

        void playTalkAnimation();

        void updatePoses( Ogre::String pose_name, float weight );

        void changeMaterialColor();

};

#endif // TALKING_HEAD_INCLUDE_TALKINGHEAD_H_