Robotics Systems Types

package rst.animation;

option java_outer_classname = "HeadAnimationType";

/**

 * This type describes a set of simple Headanimations to be executed

 * on a humanoid robotic head.

 *

 * @author Simon Schulz <sschulz@techfak.uni-bielefeld.de>

 */

message HeadAnimation {

    /**

     * some predefined animations (stupid: we have to use AnimationType_t because of java outer classname conflict)

     */

    enum HeadAnimationID {

        IDLE  		= 0; //no animation, idle

        HEAD_NOD   	= 1; //nod

        HEAD_SHAKE 	= 2; //shake

        EYEBLINK_L 	= 3; //blink with the left eye

        EYEBLINK_R 	= 4; //blink with the right eye

        EYEBLINK_BOTH 	= 5; //blink with both eyes

        EYEBROWS_RAISE 	= 6; //raise both eyebrows

        EYEBROWS_LOWER 	= 7; //lower the eyebrows

        ENGAGEMENT_LEFT = 8; //shift the head orientation to the left

        ENGAGEMENT_RIGHT = 9; //shift the head orientation to the right

    }

    /**

    * Requested Headanimation

    */

    required HeadAnimationID target = 1;

    /**

    * Number of repetitions, defaults to one repetition

    */

    required uint32 repetitions   = 2 [default = 1];

    /**

    * The duration of each animation. This scales how long one animation takes

    *

    * The duration is given in milliseconds.

    */

    // @unit(millisecond)

    required uint32 duration_each = 3;

    /**

    * How to scale the animation. The default of 1.0 executes the animation 1:1

    *

    * given as a float value: 

    * ]0, 1[  => less pronounced

    * [1, 1]  => normal version

    * ]1, n]  => over pronounced

    * [-n, 0] => undefined / ignored

    */

    required float  scale         = 4 [default = 1.0];

}

package rst.robot;

option java_outer_classname = "EmotionExpression";

/**

 * Emotional expressions for humanoid robotic heads

 *

 * @author Simon Schulz <sschulz@techfak.uni-bielefeld.de>

 */

message EmotionExpression {

    /**

     * for now we just use fixed, simple basic emotion states

     */

    enum EmotionID {

        NEUTRAL  = 0; 

        HAPPY    = 1; 

        SAD      = 2; 

        ANGRY    = 3;

        SURPRISED = 4;

        FEAR     = 5;

    }

    /**

    * which expression to show

    */

    required EmotionID value = 1;

    /**

    * The duration how long this emotion should be displayed.

    *

    * The duration is given in milliseconds.

    */

    // @unit(millisecond)

    required uint32 duration = 2;

}

package rst.robot;

option java_outer_classname = "GazeDirection";

import "rst/math/Vec3DFloat.proto";

/**

 * Gaze direction target for robotic head 

 *

 * @author Simon Schulz <sschulz@techfak.uni-bielefeld.de>

 */

message GazeDirection {

    /**

     * Gaze target direction:

     * @ref .x -> pan : head pan  rotation angle. positive = person looks to his right side

     * @ref .y -> tilt: head tilt rotation angle. positive = person looks up

     * @ref .z -> roll: head roll rotation angle. positive = person's head rolled to his right shoulder

     * Angles are given in degrees

     */

    required math.Vec3DFloat direction = 1;

    /**

    * Vergence angle. This describes how both eyes deviate from a straight view.

    * The default of 0.0 describes a straight, parallel gaze.

    * Angle is given in degrees

    */

    required float eye_vergence = 2 [default = 0.0];

    /**

    * Offset angles describing how much the angular Head deflection is offset

    * from the gaze target while the overall gaze (Head + Eyes) will still point to the requested

    * target

    * @ref .x -> pan offset : head pan  rotation angle offset. positive = person looks to his right side

    * @ref .y -> tilt offset: head tilt rotation angle offset. positive = person looks up

    * @ref .z -> roll offset: head roll rotation angle offset. positive = person's head rolled to his right shoulder

    * Default of Vec3DFloat is [0,0,0], this corresponds to no offset.

    * Angles are given in degrees

    */

    required float math.Vec3DFloat offset = 3; 

}