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.
Messages
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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 >
location
Location of the person in 3D space.
The location describes the average of the two feet positions on
the ground.
orientation
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
Bounding box around the whole body.
This is not necessarily aligned to location and
orientation. Mainly used for tracking purposes.
Download this file
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
Empty collection of legs is allowed.
The order of leg objects is not significant.
Download this file
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
Unit : radian
The angle of the leg(s) as perceived by the robot’s sensor.
angle_variance
Unit : radian
The variance of the angle
.
distance
Unit : meter
The distance between the robot’s sensor and the leg(s).
distance_variance
Unit : meter
The variance of the distance
.
pair
Indicates whether or not this object consists of two merged Legs.
If true, merging is no longer possible.
Download this file
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 ;
}