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

• LegsList
• Legs

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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;

}