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

digraph message_graph { fontname="Arial"; fontsize=11; stylesheet="../_static/graphs.css"; node [fontsize=11,fontname="Arial"] edge [fontsize=11,fontname="Arial"] "10" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-hri.html#rst.hri.LegsList" TITLE="Message rst.hri.LegsList" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">LegsList</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-hri.html#rst.hri.Legs" TITLE="Message rst.hri.Legs" TARGET="_parent">Legs</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-hri.html#rst.hri.LegsList.list" TITLE="Field rst.hri.LegsList.list" TARGET="_parent" PORT="list">list</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "11" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-hri.html#rst.hri.Legs" TITLE="Message rst.hri.Legs" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">Legs</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-hri.html#rst.hri.Legs.angle" TITLE="Field rst.hri.Legs.angle" TARGET="_parent" PORT="angle">angle</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-hri.html#rst.hri.Legs.angle_variance" TITLE="Field rst.hri.Legs.angle_variance" TARGET="_parent" PORT="angle_variance">angle_variance</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-hri.html#rst.hri.Legs.distance" TITLE="Field rst.hri.Legs.distance" TARGET="_parent" PORT="distance">distance</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-hri.html#rst.hri.Legs.distance_variance" TITLE="Field rst.hri.Legs.distance_variance" TARGET="_parent" PORT="distance_variance">distance_variance</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-BOOL.html#BOOL" TITLE="Fundamental BOOL" TARGET="_parent">BOOL</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-hri.html#rst.hri.Legs.pair" TITLE="Field rst.hri.Legs.pair" TARGET="_parent" PORT="pair">pair</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; 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"10":list -> "11"[]; "7" -> "9"[dir=both,arrowtail=odiamond]; "7":modality -> "9"[]; "7":duration -> "8"[]; "1":element -> "2"[]; "2":shape -> "5"[]; "2":orientation -> "4"[]; "2":location -> "3"[]; "5":transformation -> "6"[]; "6":rotation -> "4"[]; "6":translation -> "3"[]; }

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.

Download this file

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 HighlightTarget

class rst.hri.HighlightTarget

Specifies a target that should be highlighted by an intelligent system, e.g. to elicit attention of a human interaction partner.

Code author: Patrick Holthaus <pholthau@techfak.uni-bielefeld.de>

target_id
Type:ASCII-STRING

The target that should be highlighted.

duration
Type:rst.timing.Duration

How long to highlight the target.

modality
Type:array of rst.hri.HighlightTarget.Modality

A list of modalities to use for highlighting.

Download this file

message HighlightTarget {

    /**
     * The modality to use.
     */
    enum Modality {

        /**
         * Use gaze to refer to the target that should be highlighted.
         */
        GAZE = 1;

        /**
         * Use gestures to refer to the target, e.g. pointing.
         */
        GESTURE = 2;

        /**
         * Use (ambient) light at the target, e.g. leds or surrounding
         * lights.
         */
        AMBIENT_LIGHT = 3;

        /**
         * Use (ambient) sound at the target, e.g. beeps.
         */
        SOUND = 4;

        /**
         * Use a spot(-light) that points to the target.
         */
        SPOT_LIGHT = 5;

    }

    /**
     * The target that should be highlighted.
     */
    required string target_id = 1;

    /**
     * How long to highlight the target.
     */
    required .rst.timing.Duration duration = 2;

    /**
     * A list of modalities to use for highlighting.
     */
    repeated Modality modality = 3;

}

Message Modality

class rst.hri.HighlightTarget.Modality

The modality to use.

GAZE
= 1

Use gaze to refer to the target that should be highlighted.

GESTURE
= 2

Use gestures to refer to the target, e.g. pointing.

AMBIENT_LIGHT
= 3

Use (ambient) light at the target, e.g. leds or surrounding lights.

SOUND
= 4

Use (ambient) sound at the target, e.g. beeps.

SPOT_LIGHT
= 5

Use a spot(-light) that points to the target.

Download this file

    enum Modality {

        /**
         * Use gaze to refer to the target that should be highlighted.
         */
        GAZE = 1;

        /**
         * Use gestures to refer to the target, e.g. pointing.
         */
        GESTURE = 2;

        /**
         * Use (ambient) light at the target, e.g. leds or surrounding
         * lights.
         */
        AMBIENT_LIGHT = 3;

        /**
         * Use (ambient) sound at the target, e.g. beeps.
         */
        SOUND = 4;

        /**
         * Use a spot(-light) that points to the target.
         */
        SPOT_LIGHT = 5;

    }

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.

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
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.

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;

}

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.

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;

}