Package rst.hri

Human–robot interaction is the study of interactions between humans and robots. It is often referred as HRI by researchers.

This package contains data type definitions related to human-robot interaction.

See also

Wikipedia article containing the definition above

http://en.wikipedia.org/wiki/Human-robot_interaction

Messages

• BodyList
• Body
• LegsList
• Legs

clearer: should be made invisible via css

Message BodyList

class rst.hri.BodyList

Collection of Body instances.

Auto-generated.

element

Type:array of rst.hri.Body

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

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message BodyList {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated Body element = 1;

}

Message Body

class rst.hri.Body

Geometric properties of a person’s body (e.g. in a person-tracking system).

Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

@create_collection(BodyList)

location

Type:rst.geometry.Translation

Location of the person in 3D space.

The location describes the average of the two feet positions on the ground.

orientation

Type:rst.geometry.Rotation

Orientation of the person.

The provided rotation should be passed as a relative rotation from the coordinate frame defined by the orientation description. The axes of the corresponding coordinate system are defined as follows:

• x axis: points in the direction of the person’s walking direction
• y axis: points to the person’s right side
• z axis: points downwards (along the person’s body axis)

shape

Type:rst.geometry.BoundingBox3DFloat

Bounding box around the whole body.

This is not necessarily aligned to location and orientation. Mainly used for tracking purposes.

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message Body {

    /**
     * Location of the person in 3D space.
     *
     * The location describes the average of the two feet positions on
     * the ground.
     */
    optional geometry.Translation location = 10;

    /**
     * Orientation of the person.
     *
     * The provided rotation should be passed as a relative rotation
     * from the coordinate frame defined by the orientation
     * description. The axes of the corresponding coordinate system
     * are defined as follows:
     *
     * * x axis: points in the direction of the person's walking direction
     * * y axis: points to the person's right side
     * * z axis: points downwards (along the person's body axis)
     */
    optional geometry.Rotation orientation = 20;

    /**
     * Bounding box around the whole body.
     *
     * This is not necessarily aligned to location and
     * orientation. Mainly used for tracking purposes.
     */
    optional geometry.BoundingBox3DFloat shape = 30;

}

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;

}