GazeControl.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_GAZECONTROL_H
#define YARP_DEV_GAZECONTROL_H
 
#include <string>
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Stamp.h>
#include <yarp/dev/api.h>
#include <yarp/sig/Vector.h>
 
namespace yarp {
    namespace dev {
        struct GazeEventParameters;
        struct GazeEventVariables;
        class  GazeEvent;
        class  IGazeControl;
    }
}
 
 
struct YARP_dev_API yarp::dev::GazeEventParameters
{
    std::string type;
 
    double motionOngoingCheckPoint;
};
 
 
struct YARP_dev_API yarp::dev::GazeEventVariables
{
    std::string type;
 
    double time;
 
    double motionOngoingCheckPoint;
};
 
 
class YARP_dev_API yarp::dev::GazeEvent
{
public:
    virtual ~GazeEvent() {}
 
    yarp::dev::GazeEventParameters gazeEventParameters;
 
    yarp::dev::GazeEventVariables gazeEventVariables;
 
    virtual void gazeEventCallback() = 0;
};
 
 
class YARP_dev_API yarp::dev::IGazeControl
{
public:
    virtual ~IGazeControl();
 
    virtual bool setTrackingMode(const bool f) = 0;
 
    virtual bool getTrackingMode(bool *f) = 0;
 
    virtual bool setStabilizationMode(const bool f) = 0;
 
    virtual bool getStabilizationMode(bool *f) = 0;
 
    virtual bool getFixationPoint(yarp::sig::Vector &fp, yarp::os::Stamp *stamp = NULL) = 0;
 
    virtual bool getAngles(yarp::sig::Vector &ang, yarp::os::Stamp *stamp = NULL) = 0;
 
    virtual bool lookAtFixationPoint(const yarp::sig::Vector &fp) = 0;
 
    virtual bool lookAtAbsAngles(const yarp::sig::Vector &ang) = 0;
 
    virtual bool lookAtRelAngles(const yarp::sig::Vector &ang) = 0;
 
    virtual bool lookAtMonoPixel(const int camSel,
                                 const yarp::sig::Vector &px,
                                 const double z = 1.0) = 0;
 
    virtual bool lookAtMonoPixelWithVergence(const int camSel,
                                             const yarp::sig::Vector &px,
                                             const double ver) = 0;
 
    virtual bool lookAtStereoPixels(const yarp::sig::Vector &pxl,
                                    const yarp::sig::Vector &pxr) = 0;
 
    virtual bool lookAtFixationPointSync(const yarp::sig::Vector &fp) = 0;
 
    virtual bool lookAtAbsAnglesSync(const yarp::sig::Vector &ang) = 0;
 
    virtual bool lookAtRelAnglesSync(const yarp::sig::Vector &ang) = 0;
 
    virtual bool lookAtMonoPixelSync(const int camSel,
                                     const yarp::sig::Vector &px,
                                     const double z = 1.0) = 0;
 
    virtual bool lookAtMonoPixelWithVergenceSync(const int camSel,
                                                 const yarp::sig::Vector &px,
                                                 const double ver) = 0;
 
    virtual bool lookAtStereoPixelsSync(const yarp::sig::Vector &pxl,
                                        const yarp::sig::Vector &pxr) = 0;
 
    virtual bool getNeckTrajTime(double *t) = 0;
 
    virtual bool getEyesTrajTime(double *t) = 0;
 
    virtual bool getVORGain(double *gain) = 0;
 
    virtual bool getOCRGain(double *gain) = 0;
 
    virtual bool getSaccadesMode(bool *f) = 0;
 
    virtual bool getSaccadesInhibitionPeriod(double *period) = 0;
 
    virtual bool getSaccadesActivationAngle(double *angle) = 0;
 
    virtual bool getLeftEyePose(yarp::sig::Vector &x, yarp::sig::Vector &o,
                                yarp::os::Stamp *stamp = NULL) = 0;
 
    virtual bool getRightEyePose(yarp::sig::Vector &x, yarp::sig::Vector &o,
                                 yarp::os::Stamp *stamp = NULL) = 0;
 
    virtual bool getHeadPose(yarp::sig::Vector &x, yarp::sig::Vector &o,
                             yarp::os::Stamp *stamp = NULL) = 0;
 
    virtual bool get2DPixel(const int camSel,
                            const yarp::sig::Vector &x,
                            yarp::sig::Vector &px) = 0;
 
    virtual bool get3DPoint(const int camSel,
                            const yarp::sig::Vector &px,
                            const double z,
                            yarp::sig::Vector &x) = 0;
 
    virtual bool get3DPointOnPlane(const int camSel,
                                   const yarp::sig::Vector &px,
                                   const yarp::sig::Vector &plane,
                                   yarp::sig::Vector &x) = 0;
 
    virtual bool get3DPointFromAngles(const int mode,
                                      const yarp::sig::Vector &ang,
                                      yarp::sig::Vector &x) = 0;
 
    virtual bool getAnglesFrom3DPoint(const yarp::sig::Vector &x,
                                      yarp::sig::Vector &ang) = 0;
 
    virtual bool triangulate3DPoint(const yarp::sig::Vector &pxl,
                                    const yarp::sig::Vector &pxr,
                                    yarp::sig::Vector &x) = 0;
 
    virtual bool getJointsDesired(yarp::sig::Vector &qdes) = 0;
 
    virtual bool getJointsVelocities(yarp::sig::Vector &qdot) = 0;
 
    virtual bool getStereoOptions(yarp::os::Bottle &options) = 0;
 
    virtual bool setNeckTrajTime(const double t) = 0;
 
    virtual bool setEyesTrajTime(const double t) = 0;
 
    virtual bool setVORGain(const double gain) = 0;
 
    virtual bool setOCRGain(const double gain) = 0;
 
    virtual bool setSaccadesMode(const bool f) = 0;
 
    virtual bool setSaccadesInhibitionPeriod(const double period) = 0;
 
    virtual bool setSaccadesActivationAngle(const double angle) = 0;
 
    virtual bool setStereoOptions(const yarp::os::Bottle &options) = 0;
 
    virtual bool bindNeckPitch(const double min, const double max) = 0;
 
    virtual bool blockNeckPitch(const double val) = 0;
 
    virtual bool blockNeckPitch() = 0;
 
    virtual bool bindNeckRoll(const double min, const double max) = 0;
 
    virtual bool blockNeckRoll(const double val) = 0;
 
    virtual bool blockNeckRoll() = 0;
 
    virtual bool bindNeckYaw(const double min, const double max) = 0;
 
    virtual bool blockNeckYaw(const double val) = 0;
 
    virtual bool blockNeckYaw() = 0;
 
    virtual bool blockEyes(const double ver) = 0;
 
    virtual bool blockEyes() = 0;
 
    virtual bool getNeckPitchRange(double *min, double *max) = 0;
 
    virtual bool getNeckRollRange(double *min, double *max) = 0;
 
    virtual bool getNeckYawRange(double *min, double *max) = 0;
 
    virtual bool getBlockedVergence(double *ver) = 0;
 
    virtual bool clearNeckPitch() = 0;
 
    virtual bool clearNeckRoll() = 0;
 
    virtual bool clearNeckYaw() = 0;
 
    virtual bool clearEyes() = 0;
 
    virtual bool getNeckAngleUserTolerance(double *angle) = 0;
 
    virtual bool setNeckAngleUserTolerance(const double angle) = 0;
 
    virtual bool checkMotionDone(bool *f) = 0;
 
    virtual bool waitMotionDone(const double period=0.1, const double timeout=0.0) = 0;
 
    virtual bool checkSaccadeDone(bool *f) = 0;
 
    virtual bool waitSaccadeDone(const double period=0.1, const double timeout=0.0) = 0;
 
    virtual bool stopControl() = 0;
 
    virtual bool storeContext(int *id) = 0;
 
    virtual bool restoreContext(const int id) = 0;
 
    virtual bool deleteContext(const int id) = 0;
 
    virtual bool getInfo(yarp::os::Bottle &info) = 0;
 
    virtual bool registerEvent(yarp::dev::GazeEvent &event) = 0;
 
    virtual bool unregisterEvent(yarp::dev::GazeEvent &event) = 0;
 
    virtual bool tweakSet(const yarp::os::Bottle &options) = 0;
 
    virtual bool tweakGet(yarp::os::Bottle &options) = 0;
};
 
#endif // YARP_DEV_GAZECONTROL_H