Package rst.hri

Not documented

Messages

• PersonHypotheses
• PersonHypothesis
• GroupHypothesis
• LegsList
• Legs

clearer: should be made invisible via css

Message PersonHypotheses

class rst.hri.PersonHypotheses

A sequence of person hypothesis.

Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

persons

Type :array of rst.hri.PersonHypothesis

Not documented

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message PersonHypotheses {

    repeated PersonHypothesis persons = 1;

}

Message PersonHypothesis

class rst.hri.PersonHypothesis

A hypothesis about a person (e.g. in a person-tracking system).

Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

tracking_info

Type :rst.tracking.TrackingInfo

A unique identification of a person hypothesis maintained by the person manager.

face

Type :rst.vision.Face

Not documented

rhc_direction

Type :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

rbc_direction

Type :rst.math.Vec2DFloat

Direction of the human in a coordinate system the origin of which is the robot’s body.

Todo

Rename; see above.

human_head_direction

Type :rst.math.Vec2DFloat

Direction the human is looking.

Todo

Clarify

age

Type :OCTET-VECTOR

Results from the identity recognizer.

Todo

Describe what these mean, not where they come from.

gender

Type :OCTET-VECTOR

Not documented

identity

Type :OCTET-VECTOR

Not documented

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message PersonHypothesis {

    /**
     * A unique identification of a person hypothesis maintained by
     * the person manager.
     */
    optional tracking.TrackingInfo tracking_info = 1;

    optional vision.Face face = 3;

    /**
     * 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"
     */
    optional math.Vec2DFloat rhc_direction = 10;

    /**
     * Direction of the human in a coordinate system the origin of
     * which is the robot's body.
     *
     * @todo "Rename; see above."
     */
    optional math.Vec2DFloat rbc_direction = 20;

    /**
     * Direction the human is looking.
     *
     * @todo "Clarify"
     */
    optional math.Vec2DFloat human_head_direction = 30;

    /**
     * Results from the identity recognizer.
     *
     * @todo "Describe what these mean, not where they come from."
     */
    optional bytes age = 40;
    optional bytes gender = 42;
    optional bytes identity = 44;

}

Message GroupHypothesis

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.

Code author: David Klotz <dklotz@techfak.uni-bielefeld.de>

tracking_info

Type :rst.tracking.TrackingInfo

A unique identification of a group hypothesis maintained by the group manager.

group_size_estimate

Type :UINT32

Information about the size (number of people) of the group.

group_size_category

Type :rst.hri.GroupHypothesis.SizeCategory

Not documented

interest_level

Type :FLOAT32

Constraint: 0.0 <= value <= 1.0

Group engagement information:

A level of interest the group is showing towards the robot.

group_stability

Type :FLOAT32

Constraint: 0.0 <= value <= 1.0

How stable is the group, i.e. is there a low level of fluctuation of group members.

age_category

Type :rst.hri.GroupHypothesis.AgeCategory

Information about the group composition, structure etc.

gender_category

Type :rst.hri.GroupHypothesis.GenderCategory

Not documented

stability_cues

Type :rst.math.MatrixDouble

Internal cue data for evaluation

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message GroupHypothesis {

    /**
     * A category for the age of the group members.
     */
    enum AgeCategory {
        CHILDREN = 1;
        ADULTS = 2;
        SENIORS = 4;
        MIXED = 8;
    }

    /**
     * A category for the gender of the group members.
     */
    enum GenderCategory {
        MIXED_GENDERS = 1;
        COMPLETELY_FEMALE = 2;
        COMPLETELY_MALE = 4;
    }

    /**
     * A category for the group size.
     */
    enum SizeCategory {
        SMALL_GROUP = 1;
        GROUP = 2;
        CROWD = 4;
    }

    /**
     * A unique identification of a group hypothesis maintained by the
     * group manager.
     */
    optional tracking.TrackingInfo tracking_info = 1;

    /**
     * Information about the size (number of people) of the group.
     */
    optional uint32 group_size_estimate = 10;
    optional SizeCategory group_size_category = 11;

    /**
     * Group engagement information:
     *
     * A level of interest the group is showing towards the robot.
     */
    // @constraint(0.0 <= value <= 1.0)
    optional float interest_level = 20;

    /**
     * How stable is the group, i.e. is there a low level of
     * fluctuation of group members.
     */
    // @constraint(0.0 <= value <= 1.0)
    optional float group_stability = 21;

    /**
     * Information about the group composition, structure etc.
     */
    optional AgeCategory age_category = 30;
    optional GenderCategory gender_category = 31;

    /**
     * Internal cue data for evaluation
     */
    optional math.MatrixDouble stability_cues = 40;

}

Message AgeCategory

class rst.hri.GroupHypothesis.AgeCategory

A category for the age of the group members.

CHILDREN

= 1

Not documented

ADULTS

= 2

Not documented

SENIORS

= 4

Not documented

MIXED

= 8

Not documented

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    enum AgeCategory {
        CHILDREN = 1;
        ADULTS = 2;
        SENIORS = 4;
        MIXED = 8;
    }

Message GenderCategory

class rst.hri.GroupHypothesis.GenderCategory

A category for the gender of the group members.

MIXED_GENDERS

= 1

Not documented

COMPLETELY_FEMALE

= 2

Not documented

COMPLETELY_MALE

= 4

Not documented

Download this file

    enum GenderCategory {
        MIXED_GENDERS = 1;
        COMPLETELY_FEMALE = 2;
        COMPLETELY_MALE = 4;
    }

Message SizeCategory

class rst.hri.GroupHypothesis.SizeCategory

A category for the group size.

SMALL_GROUP

= 1

Not documented

GROUP

= 2

Not documented

CROWD

= 4

Not documented

Download this file

    enum SizeCategory {
        SMALL_GROUP = 1;
        GROUP = 2;
        CROWD = 4;
    }

Message LegsList

class rst.hri.LegsList

A collection of <Could not resolve reference to Legs> .

Code author: Phillip Luecking <plueckin@techfak.uni-bielefeld.de>

list

Type :array of rst.hri.Legs

Empty collection of legs is allowed. The order of leg objects is not significant.

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message LegsList {

    /**
     * Empty collection of legs is allowed.
     * The order of leg objects is not significant.
     */
    repeated hri.Legs list = 1;

}

Message Legs

class rst.hri.Legs

A representation of a pair of legs (or a single leg).

The 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 angle and distance are as perceived from the robot.

Code author: Phillip Luecking <plueckin@techfak.uni-bielefeld.de>

angle

Type :FLOAT32

Unit: radian

The angle of the leg(s) as perceived by the robot’s sensor.

angle_variance

Type :FLOAT32

Unit: radian

The variance of the angle.

distance

Type :FLOAT32

Unit: meter

The distance between the robot’s sensor and the leg(s).

distance_variance

Type :FLOAT32

Unit: meter

The variance of the distance.

pair

Type :BOOL

Indicates whether or not this object consists of two merged Legs.

If true, merging is no longer possible.

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message Legs {

    /**
     * The angle of the leg(s) as perceived by the robot's sensor.
     */
    // @unit(radian)
    required float angle = 1;

    /**
     * The variance of the @ref .angle.
     */
    // @unit(radian)
    required float angle_variance = 2;

    /**
     * The distance between the robot's sensor and the leg(s).
     */
    // @unit(meter)
    required float distance = 3;

    /**
     * The variance of the @ref .distance.
     */
    // @unit(meter)
    required float distance_variance = 4;

    /**
     * Indicates whether or not this object consists of two merged Legs.
     *
     * If true, merging is no longer possible.
     */
    required bool pair = 5;

}