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Component Class Reference
A component to control the robot's gaze during a handover task. More...
#include <armarx/view_selection/components/handover_target_provider/Component.h>
Inheritance diagram for Component:Public Member Functions | |
| Component () | |
| std::string | getDefaultName () const override |
| void | start (const ::std::string &humanTrackingId, ::armarx::view_selection::components::handover_target_provider::RobotRole robotRole, const ::Ice::Current &=::Ice::emptyCurrent) override |
| void | stop (const ::Ice::Current &=::Ice::emptyCurrent) override |
| Public Member Functions inherited from Component | |
| virtual void | componentPropertiesUpdated (const std::set< std::string > &changedProperties) |
| Implement this function if you would like to react to changes in the properties. More... | |
| void | forceComponentCreatedByComponentCreateFunc () |
| forces the flag to be set to true that the object instance was created by the Component::create function More... | |
| std::vector< PropertyUserPtr > | getAdditionalPropertyUsers () const |
| template<typename PropertyType > | |
| Property< PropertyType > | getProperty (const std::string &name) |
| template<typename PropertyType > | |
| Property< PropertyType > | getProperty (const std::string &name) const |
| template<class T > | |
| void | getProperty (std::atomic< T > &val, const std::string &name) const |
| template<class T > | |
| void | getProperty (T &val, const std::string &name) const |
| template<class ProxyType > | |
| ProxyType | getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true) |
| Get a proxy whose name is specified by the given property. More... | |
| template<class ProxyType > | |
| void | getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true) |
| template<class TopicProxyType > | |
| TopicProxyType | getTopicFromProperty (const std::string &propertyName) |
| Get a topic proxy whose name is specified by the given property. More... | |
| template<class TopicProxyType > | |
| void | getTopicFromProperty (TopicProxyType &top, const std::string &propertyName) |
| void | initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain) |
| initializes the properties of this component. More... | |
| void | injectPropertyDefinitions (PropertyDefinitionsPtr &props) override |
| void | offeringTopicFromProperty (const std::string &propertyName) |
| Offer a topic whose name is specified by the given property. More... | |
| virtual void | preOnConnectComponent () override |
| virtual void | preOnInitComponent () override |
| bool | usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="") |
| Use a proxy whose name is specified by the given property. More... | |
| void | usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false) |
| Use a topic whose name is specified by the given property. More... | |
| Public Member Functions inherited from ManagedIceObject | |
| void | enableProfiler (bool enable) |
| setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More... | |
| std::string | generateSubObjectName (const std::string &subObjectName) |
| Generates a unique name for a sub object from a general name. More... | |
| ArmarXManagerPtr | getArmarXManager () const |
| Returns the ArmarX manager used to add and remove components. More... | |
| ManagedIceObjectConnectivity | getConnectivity () const |
| Retrieve connectivity of the object (topcis as well as proxies) More... | |
| IceManagerPtr | getIceManager () const |
| Returns the IceManager. More... | |
| VariantBasePtr | getMetaInfo (const std::string &id) |
| StringVariantBaseMap | getMetaInfoMap () const |
| std::string | getName () const |
| Retrieve name of object. More... | |
| Ice::ObjectAdapterPtr | getObjectAdapter () const |
| Returns object's Ice adapter. More... | |
| ArmarXObjectSchedulerPtr | getObjectScheduler () const |
| PeriodicTaskPtr | getPeriodicTask (const std::string &name) |
| Profiler::ProfilerPtr | getProfiler () const |
| getProfiler returns an instance of armarx::Profiler More... | |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args) |
| template<class ProxyType > | |
| ProxyType | getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true) |
| Retrieves a proxy object. More... | |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args) |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args) |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args) |
Assigns a proxy to proxy. More... | |
| Ice::ObjectPrx | getProxy (long timeoutMs=0, bool waitForScheduler=true) const |
| Returns the proxy of this object (optionally it waits for the proxy) More... | |
| template<class Prx > | |
| Prx | getProxy (long timeoutMs=0, bool waitForScheduler=true) const |
| template<class ProxyType > | |
| void | getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true) |
| Overload to allow using string literals as name (solve ambiguous overload). More... | |
| template<class Prx > | |
| void | getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const |
| int | getState () const |
| Retrieve current state of the ManagedIceObject. More... | |
| template<class TopicProxyType > | |
| TopicProxyType | getTopic (const std::string &name) |
| Returns a proxy of the specified topic. More... | |
| template<class TopicProxyType > | |
| void | getTopic (TopicProxyType &topicProxy, const std::string &name) |
Assigns a proxy of the specified topic to topicProxy. More... | |
| std::vector< std::string > | getUnresolvedDependencies () const |
| returns the names of all unresolved dependencies More... | |
| ManagedIceObject (ManagedIceObject const &other) | |
| void | offeringTopic (const std::string &name) |
| Registers a topic for retrival after initialization. More... | |
| void | preambleGetTopic (std::string const &name) |
| void | setMetaInfo (const std::string &id, const VariantBasePtr &value) |
| Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More... | |
| void | startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true) |
| bool | stopPeriodicTask (const std::string &name) |
| bool | unsubscribeFromTopic (const std::string &name) |
| Unsubscribe from a topic. More... | |
| bool | usingProxy (const std::string &name, const std::string &endpoints="") |
| Registers a proxy for retrieval after initialization and adds it to the dependency list. More... | |
| void | usingTopic (const std::string &name, bool orderedPublishing=false) |
| Registers a proxy for subscription after initialization. More... | |
| void | waitForObjectScheduler () |
| Waits until the ObjectScheduler could resolve all dependencies. More... | |
| void | waitForProxy (std::string const &name, bool addToDependencies) |
| Public Member Functions inherited from Logging | |
| SpamFilterDataPtr | deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const |
| disables the logging for the current line for the given amount of seconds. More... | |
| MessageTypeT | getEffectiveLoggingLevel () const |
| Logging () | |
| void | setLocalMinimumLoggingLevel (MessageTypeT level) |
| With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More... | |
| void | setTag (const LogTag &tag) |
| void | setTag (const std::string &tagName) |
| virtual | ~Logging () |
| Public Member Functions inherited from PropertyUser | |
| std::vector< std::string > | getComponentProxyNames () |
| Ice::PropertiesPtr | getIceProperties () const |
| Returns the set of Ice properties. More... | |
| template<typename PropertyType > | |
| Property< PropertyType > | getProperty (const std::string &name) |
| Property creation and retrieval. More... | |
| template<typename PropertyType > | |
| Property< PropertyType > | getProperty (const std::string &name) const |
Hack to allow using getProperty in const-modified methods. More... | |
| template<class T > | |
| void | getProperty (std::atomic< T > &val, const std::string &name) const |
| template<class T > | |
| void | getProperty (T &val, const std::string &name) const |
| template<class T > | |
| std::vector< T > | getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true) |
| template<class ContainerT > | |
| void | getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true) |
| PropertyDefinitionsPtr | getPropertyDefinitions () |
| Returns the component's property definition container. More... | |
| std::vector< std::string > | getSubscribedTopicNames () |
| std::vector< std::string > | getTopicProxyNames () |
| bool | hasProperty (const std::string &name) |
| PropertyUser () | |
| virtual void | setIceProperties (Ice::PropertiesPtr properties) |
| Sets the Ice properties. More... | |
| bool | tryAddProperty (const std::string &propertyName, const std::string &value) |
| virtual void | updateIceProperties (const std::map< std::string, std::string > &changes) |
| void | updateProperties () |
| void | updateProxies (IceManagerPtr) |
| ~PropertyUser () override | |
| Public Member Functions inherited from ArVizComponentPluginUser | |
| ArVizComponentPluginUser () | |
| armarx::viz::Client | createArVizClient () |
| armarx::viz::Client & | getArvizClient () |
| Public Member Functions inherited from ObjectPoseClientPluginUser | |
| objpose::ObjectPoseStorageInterfacePrx | createObjectPoseStorage () |
| objpose::ObjectPoseClient | getClient () const |
| const ObjectFinder & | getObjectFinder () const |
| plugins::ObjectPoseClientPlugin & | getObjectPoseClientPlugin () |
| const plugins::ObjectPoseClientPlugin & | getObjectPoseClientPlugin () const |
| objpose::ObjectPoseSeq | getObjectPoses () |
| objpose::ObjectPoseSeq | getObjectPosesByProvider (const std::string &providerName) |
| ObjectPoseClientPluginUser () | |
| Public Member Functions inherited from PluginUser | |
| MemoryNameSystem & | memoryNameSystem () |
| const MemoryNameSystem & | memoryNameSystem () const |
Static Public Member Functions | |
| static std::string | GetDefaultName () |
| Get the component's default name. More... | |
| Static Public Member Functions inherited from Component | |
| template<class T , class TPtr = IceInternal::Handle<T>> | |
| static TPtr | create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX") |
| Factory method for a component. More... | |
| Static Public Member Functions inherited from ManagedIceObject | |
| static std::string | generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName) |
| Generates a unique name for a sub object from a general name and unique name. More... | |
| static std::string | GetObjectStateAsString (int state) |
Protected Member Functions | |
| armarx::PropertyDefinitionsPtr | createPropertyDefinitions () override |
| void | onConnectComponent () override |
| void | onDisconnectComponent () override |
| void | onExitComponent () override |
| void | onInitComponent () override |
| void | updateTargets () |
| Protected Member Functions inherited from Component | |
| void | addPropertyUser (const PropertyUserPtr &subPropertyUser) |
| Add additional property users here that should show up in the application help text. More... | |
| Component () | |
| Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More... | |
| std::string | getConfigDomain () |
| Retrieve config domain for this component as set in constructor. More... | |
| std::string | getConfigIdentifier () |
| Retrieve config identifier for this component as set in constructor. More... | |
| std::string | getConfigName () |
| Retrieve config name for this component as set in constructor. More... | |
| virtual void | icePropertiesInitialized () |
| Protected Member Functions inherited from ManagedIceObject | |
| template<class PluginT , class... ParamsT> | |
| PluginT * | addPlugin (const std::string prefix="", ParamsT &&... params) |
| template<class PluginT , class... ParamsT> | |
| void | addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params) |
| template<class PluginT , class... ParamsT> | |
| void | addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params) |
| Ice::CommunicatorPtr | getCommunicator () const |
| std::unique_ptr< ManagedIceObjectPlugin > & | getPluginPointer (std::type_info const &type, std::string const &prefix) |
| ManagedIceObject () | |
| Protected default constructor. More... | |
| virtual void | postOnConnectComponent () |
| virtual void | postOnDisconnectComponent () |
| virtual void | postOnExitComponent () |
| virtual void | postOnInitComponent () |
| virtual void | preOnDisconnectComponent () |
| virtual void | preOnExitComponent () |
| bool | removeProxyDependency (const std::string &name) |
| This function removes the dependency of this object on the in parameter name specified object. More... | |
| void | setName (std::string name) |
| Override name of well-known object. More... | |
| void | terminate () |
| Initiates termination of this IceManagedObject. More... | |
| ~ManagedIceObject () override | |
| Protected Member Functions inherited from Logging | |
| bool | checkLogLevel (MessageTypeT level) const |
| const LogSenderPtr & | getLogSender () const |
| Retrieve log sender. More... | |
| LogSenderPtr | loghelper (const char *file, int line, const char *function) const |
| Protected Member Functions inherited from ListeningPluginUser | |
| ListeningPluginUser () | |
| virtual void | memoryUpdated (const std::vector< data::MemoryID > &updatedSnapshotIDs, const Ice::Current &) override |
| virtual | ~ListeningPluginUser () override |
| Protected Member Functions inherited from PluginUser | |
| PluginUser () | |
| virtual | ~PluginUser () override |
Additional Inherited Members | |
| Public Types inherited from ManagedIceObject | |
| using | PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >> |
| Public Types inherited from ObjectPoseClientPluginUser | |
| using | ObjectPoseClient = ObjectPoseClientPluginUser |
| Allow usage like: ObjectPoseClient::getObjects() More... | |
| Public Attributes inherited from ArVizComponentPluginUser | |
| armarx::viz::Client | arviz |
| Static Public Attributes inherited from ManagedIceObject | |
| static const ManagedIceObjectPtr | NullPtr |
| A nullptr to be used when a const ref to a nullptr is required. More... | |
| Protected Attributes inherited from Logging | |
| MessageTypeT | minimumLoggingLevel |
| SpamFilterDataPtr | spamFilter |
| LogTag | tag |
Detailed Description
A component to control the robot's gaze during a handover task.
The behavior is as follows and justified by the papers mentioned below:
The receiver will look at the giver's hand during reach and transfer phase. Once it received the object, it will look at the giver's face. The giver will first look at the receiver's face during reach. At a certain distance to the receiver, it will then look at the receiver's hand. Once the object is exchanged, the giver will then look at the receivers face.
See: [1] A. Kshirsagar, M. Lim, S. Christian and G. Hoffman, "Robot Gaze Behaviors in Human-to-Robot Handovers," in IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6552-6558, Oct. 2020, doi: 10.1109/LRA.2020.3015692.
[2] Faibish, Tair, et al. "Human preferences for robot eye gaze in human-to-robot handovers." International Journal of Social Robotics (2022): 1-18.
In [1], the reach phase is analyzed. In [2], the phases reach, transfer and retreat are distinguished.
[1] concludes that during the reach phase, the receiver should look at the givers hand. This is also en par with findings in [2]. For the giver, both gaze control schemes 'receiver's face' and 'receiver's face -> receiver's hand' are both acceptable but it is summarized "that participants liked the transition gaze behaviors more than any of the fixed gaze behaviors" [1]. In [2], the authors state this even more clearly: (1) "The participants preferred a gaze pattern in which the robot initially looks at their face and then transitions its gaze to their hand and then transitions its gaze back to look at their face again." [2] (2) "The participants’ gaze preference did not change for changes in the object size, object fragility, or the user’s posture. However, the gaze preferences were also not statistically equivalent for different object size, object fragility, or the user’s posture" [2]
Definition at line 73 of file Component.h.
Constructor & Destructor Documentation
◆ Component()
| Component | ( | ) |
Member Function Documentation
◆ createPropertyDefinitions()
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overrideprotectedvirtual |
Reimplemented from Component.
Definition at line 59 of file Component.cpp.
Here is the call graph for this function:◆ GetDefaultName()
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static |
Get the component's default name.
Definition at line 154 of file Component.cpp.
◆ getDefaultName()
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overridevirtual |
Implements ManagedIceObject.
Definition at line 148 of file Component.cpp.
◆ onConnectComponent()
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overrideprotectedvirtual |
Implements ManagedIceObject.
Definition at line 101 of file Component.cpp.
Here is the call graph for this function:◆ onDisconnectComponent()
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overrideprotectedvirtual |
Reimplemented from ManagedIceObject.
Definition at line 138 of file Component.cpp.
◆ onExitComponent()
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overrideprotectedvirtual |
Reimplemented from ManagedIceObject.
Definition at line 143 of file Component.cpp.
◆ onInitComponent()
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overrideprotectedvirtual |
Implements ManagedIceObject.
Definition at line 91 of file Component.cpp.
◆ start()
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override |
Definition at line 160 of file Component.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ stop()
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override |
◆ updateTargets()
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protected |
Definition at line 200 of file Component.cpp.
Here is the call graph for this function: Here is the caller graph for this function:The documentation for this class was generated from the following files:
- armarx/view_selection/components/handover_target_provider/Component.h
- armarx/view_selection/components/handover_target_provider/Component.cpp
