.. _package-rst-hri:
=================
Package rst.hri
=================
*Not documented*
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/corlab.css";
node [fontsize=11]
node [fontname="Arial"]
edge [fontsize=11]
edge [fontname="Arial"]
"15" [label=< | LegsList |
|
| Legs | list |
>,shape=box,style=filled,fillcolor="white"];
"16" [label=< | Legs |
|
| FLOAT32 | angle |
| FLOAT32 | angle_variance |
| FLOAT32 | distance |
| FLOAT32 | distance_variance |
| BOOL | pair |
>,shape=box,style=filled,fillcolor="white"];
"8" [label=< | GroupHypothesis |
|
| TrackingInfo | tracking_info |
| UINT32 | group_size_estimate |
| SizeCategory | group_size_category |
| FLOAT32 | interest_level |
| FLOAT32 | group_stability |
| AgeCategory | age_category |
| GenderCategory | gender_category |
| MatrixDouble | stability_cues |
>,shape=box,style=filled,fillcolor="white"];
"12" [label=< | MatrixDouble |
|
| Size | size |
| Data | data |
>,shape=box,style=filled,fillcolor="white"];
"14" [label=< | Data |
|
| FLOAT64 | value |
>,shape=box,style=filled,fillcolor="white"];
"13" [label=< | Size |
|
| UINT32 | m |
| UINT32 | n |
>,shape=box,style=filled,fillcolor="white"];
"11" [label=< | GenderCategory |
|
| MIXED_GENDERS | 1 |
| COMPLETELY_FEMALE | 2 |
| COMPLETELY_MALE | 4 |
>,shape=box,style=filled,fillcolor="white"];
"10" [label=< | AgeCategory |
|
| CHILDREN | 1 |
| ADULTS | 2 |
| SENIORS | 4 |
| MIXED | 8 |
>,shape=box,style=filled,fillcolor="white"];
"9" [label=< | SizeCategory |
|
| SMALL_GROUP | 1 |
| GROUP | 2 |
| CROWD | 4 |
>,shape=box,style=filled,fillcolor="white"];
"1" [label=< | PersonHypotheses |
|
| PersonHypothesis | persons |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | PersonHypothesis |
|
| TrackingInfo | tracking_info |
| Face | face |
| Vec2DFloat | rhc_direction |
| Vec2DFloat | rbc_direction |
| Vec2DFloat | human_head_direction |
| OCTET-VECTOR | age |
| OCTET-VECTOR | gender |
| OCTET-VECTOR | identity |
>,shape=box,style=filled,fillcolor="white"];
"7" [label=< | Vec2DFloat |
|
| FLOAT32 | x |
| FLOAT32 | y |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | Face |
|
| BoundingBox | region |
| FLOAT64 | confidence |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | BoundingBox |
|
| Vec2DInt | top_left |
| UINT32 | width |
| UINT32 | height |
| UINT32 | image_width |
| UINT32 | image_height |
>,shape=box,style=filled,fillcolor="white"];
"6" [label=< | Vec2DInt |
|
| INT32 | x |
| INT32 | y |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | TrackingInfo |
|
| UINT32 | id |
>,shape=box,style=filled,fillcolor="white"];
"15":list -> "16" [];
"8" -> "9" [dir=both,arrowtail=odiamond];
"8" -> "11" [dir=both,arrowtail=odiamond];
"8" -> "10" [dir=both,arrowtail=odiamond];
"8":stability_cues -> "12" [];
"8":gender_category -> "11" [];
"8":age_category -> "10" [];
"8":group_size_category -> "9" [];
"8":tracking_info -> "3" [];
"12" -> "14" [dir=both,arrowtail=odiamond];
"12" -> "13" [dir=both,arrowtail=odiamond];
"12":data -> "14" [];
"12":size -> "13" [];
"1":persons -> "2" [];
"2":human_head_direction -> "7" [];
"2":rbc_direction -> "7" [];
"2":rhc_direction -> "7" [];
"2":face -> "4" [];
"2":tracking_info -> "3" [];
"4":region -> "5" [];
"5":top_left -> "6" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`PersonHypotheses `
* :ref:`PersonHypothesis `
* :ref:`GroupHypothesis `
* :ref:`LegsList `
* :ref:`Legs `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-hri-personhypotheses:
Message PersonHypotheses
------------------------
.. container:: message-rst-hri-personhypotheses-multi
.. container:: message-rst-hri-personhypotheses-documentation
.. py:class:: rst.hri.PersonHypotheses
A sequence of person hypothesis.
.. codeauthor:: Johannes Wienke
.. py:attribute:: persons
:type: array of :py:class:`rst.hri.PersonHypothesis`
*Not documented*
.. container:: message-rst-hri-personhypotheses-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/hri/PersonHypotheses.proto
:lines: 12-16
:language: protobuf
:emphasize-lines: 3-3
.. _message-rst-hri-personhypothesis:
Message PersonHypothesis
------------------------
.. container:: message-rst-hri-personhypothesis-multi
.. container:: message-rst-hri-personhypothesis-documentation
.. py:class:: rst.hri.PersonHypothesis
A hypothesis about a person (e.g. in a person-tracking system).
.. codeauthor:: Johannes Wienke
.. py:attribute:: tracking_info
:type: :py:class:`rst.tracking.TrackingInfo`
A unique identification of a person hypothesis maintained by
the person manager.
.. py:attribute:: face
:type: :py:class:`rst.vision.Face`
*Not documented*
.. py:attribute:: rhc_direction
:type: :py:class:`rst.math.Vec2DFloat`
Direction of the human in a coordinate system the origin of
which is the robot's head.
.. todo::
Rename this field to something more descriptive
.. py:attribute:: rbc_direction
:type: :py:class:`rst.math.Vec2DFloat`
Direction of the human in a coordinate system the origin of
which is the robot's body.
.. todo::
Rename; see above.
.. py:attribute:: human_head_direction
:type: :py:class:`rst.math.Vec2DFloat`
Direction the human is looking.
.. todo::
Clarify
.. py:attribute:: age
:type: :py:class:`OCTET-VECTOR`
Results from the identity recognizer.
.. todo::
Describe what these mean, not where they come from.
.. py:attribute:: gender
:type: :py:class:`OCTET-VECTOR`
*Not documented*
.. py:attribute:: identity
:type: :py:class:`OCTET-VECTOR`
*Not documented*
.. container:: message-rst-hri-personhypothesis-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/hri/PersonHypothesis.proto
:lines: 14-56
:language: protobuf
:emphasize-lines: 7-7,9-9,17-17,25-25,32-32,39-39,40-40,41-41
.. _message-rst-hri-grouphypothesis:
Message GroupHypothesis
-----------------------
.. container:: message-rst-hri-grouphypothesis-multi
.. container:: message-rst-hri-grouphypothesis-documentation
.. py:class:: rst.hri.GroupHypothesis
A hypothesis about a group visible to and/or interacting with the
robot. Will include estimates about group size and some attributes
like engagement.
.. codeauthor:: David Klotz
.. py:attribute:: tracking_info
:type: :py:class:`rst.tracking.TrackingInfo`
A unique identification of a group hypothesis maintained by the
group manager.
.. py:attribute:: group_size_estimate
:type: :py:class:`UINT32`
Information about the size (number of people) of the group.
.. py:attribute:: group_size_category
:type: :py:class:`rst.hri.GroupHypothesis.SizeCategory`
*Not documented*
.. py:attribute:: interest_level
:type: :py:class:`FLOAT32`
**Constraint**: ``0.0 <= value <= 1.0``
Group engagement information:
A level of interest the group is showing towards the robot.
.. py:attribute:: group_stability
:type: :py:class:`FLOAT32`
**Constraint**: ``0.0 <= value <= 1.0``
How stable is the group, i.e. is there a low level of
fluctuation of group members.
.. py:attribute:: age_category
:type: :py:class:`rst.hri.GroupHypothesis.AgeCategory`
Information about the group composition, structure etc.
.. py:attribute:: gender_category
:type: :py:class:`rst.hri.GroupHypothesis.GenderCategory`
*Not documented*
.. py:attribute:: stability_cues
:type: :py:class:`rst.math.MatrixDouble`
Internal cue data for evaluation
.. container:: message-rst-hri-grouphypothesis-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/hri/GroupHypothesis.proto
:lines: 15-83
:language: protobuf
:emphasize-lines: 35-35,40-40,41-41,49-49,56-56,61-61,62-62,67-67
.. _message-rst-hri-grouphypothesis-agecategory:
Message AgeCategory
-------------------
.. container:: message-rst-hri-grouphypothesis-agecategory-multi
.. container:: message-rst-hri-grouphypothesis-agecategory-documentation
.. py:class:: rst.hri.GroupHypothesis.AgeCategory
A category for the age of the group members.
.. py:attribute:: CHILDREN
= 1
*Not documented*
.. py:attribute:: ADULTS
= 2
*Not documented*
.. py:attribute:: SENIORS
= 4
*Not documented*
.. py:attribute:: MIXED
= 8
*Not documented*
.. container:: message-rst-hri-grouphypothesis-agecategory-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/hri/GroupHypothesis.proto
:lines: 20-25
:language: protobuf
:emphasize-lines: 2-2,3-3,4-4,5-5
.. _message-rst-hri-grouphypothesis-gendercategory:
Message GenderCategory
----------------------
.. container:: message-rst-hri-grouphypothesis-gendercategory-multi
.. container:: message-rst-hri-grouphypothesis-gendercategory-documentation
.. py:class:: rst.hri.GroupHypothesis.GenderCategory
A category for the gender of the group members.
.. py:attribute:: MIXED_GENDERS
= 1
*Not documented*
.. py:attribute:: COMPLETELY_FEMALE
= 2
*Not documented*
.. py:attribute:: COMPLETELY_MALE
= 4
*Not documented*
.. container:: message-rst-hri-grouphypothesis-gendercategory-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/hri/GroupHypothesis.proto
:lines: 30-34
:language: protobuf
:emphasize-lines: 2-2,3-3,4-4
.. _message-rst-hri-grouphypothesis-sizecategory:
Message SizeCategory
--------------------
.. container:: message-rst-hri-grouphypothesis-sizecategory-multi
.. container:: message-rst-hri-grouphypothesis-sizecategory-documentation
.. py:class:: rst.hri.GroupHypothesis.SizeCategory
A category for the group size.
.. py:attribute:: SMALL_GROUP
= 1
*Not documented*
.. py:attribute:: GROUP
= 2
*Not documented*
.. py:attribute:: CROWD
= 4
*Not documented*
.. container:: message-rst-hri-grouphypothesis-sizecategory-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/hri/GroupHypothesis.proto
:lines: 39-43
:language: protobuf
:emphasize-lines: 2-2,3-3,4-4
.. _message-rst-hri-legslist:
Message LegsList
----------------
.. container:: message-rst-hri-legslist-multi
.. container:: message-rst-hri-legslist-documentation
.. py:class:: rst.hri.LegsList
A collection of .
.. codeauthor:: Phillip Luecking
.. py:attribute:: list
:type: array of :py:class:`rst.hri.Legs`
Empty collection of legs is allowed.
The order of leg objects is not significant.
.. container:: message-rst-hri-legslist-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/hri/LegsList.proto
:lines: 12-20
:language: protobuf
:emphasize-lines: 7-7
.. _message-rst-hri-legs:
Message Legs
------------
.. container:: message-rst-hri-legs-multi
.. container:: message-rst-hri-legs-documentation
.. py:class:: rst.hri.Legs
A representation of a pair of legs (or a single leg).
The :py:attr:`pair ` field indicates whether this object has been merged
with another object of the same type into a representation of a
pair of legs.
The values stored in :py:attr:`angle ` and :py:attr:`distance ` are as
perceived from the robot.
.. codeauthor:: Phillip Luecking
.. py:attribute:: angle
:type: :py:class:`FLOAT32`
**Unit**: radian
The angle of the leg(s) as perceived by the robot's sensor.
.. py:attribute:: angle_variance
:type: :py:class:`FLOAT32`
**Unit**: radian
The variance of the :py:attr:`angle `.
.. py:attribute:: distance
:type: :py:class:`FLOAT32`
**Unit**: meter
The distance between the robot's sensor and the leg(s).
.. py:attribute:: distance_variance
:type: :py:class:`FLOAT32`
**Unit**: meter
The variance of the :py:attr:`distance `.
.. py:attribute:: pair
:type: :py:class:`BOOL`
Indicates whether or not this object consists of two merged Legs.
If true, merging is no longer possible.
.. container:: message-rst-hri-legs-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/hri/Legs.proto
:lines: 17-50
:language: protobuf
:emphasize-lines: 7-7,13-13,19-19,25-25,32-32