Robotics Systems Types

package rst.animation;

option java_outer_classname = "BinocularHeadGazeType";

import "rst/geometry/SphericalDirectionFloat.proto";

/**

 * Description of a gaze configuration of a system having tow eyes

 * mounted on a pan-tilt joint (something like a human or robot

 * head).

 *

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

 */

message BinocularHeadGaze {

    /**

     * Spherical direction of the target to gaze at with respect to a

     * neutral "straight-ahead" direction of the described "head". The

     * direction originates from the center point between both eyes. The

     * underlying Cartesian coordinate system of the spherical

     * coordinates is as follows:

     *

     *  * The positive X axis points towards the "straight-ahead"

     *    direction.

     *

     *  * The positive Y axis points to the head's left direction.

     *

     *  * The positive Z axis points up with respect to the

     *    "straight-ahead" direction of the head.

     */

    required .rst.geometry.SphericalDirectionFloat target = 1;

    /**

     * Vergence angle of both eyes. This describes how both eyes deviate

     * from a parallel configuration. The default of 0.0 describes a

     * straight, parallel gaze. The angles are expressed as a rotation

     * around the normal vector of a plane defined by the connecting

     * line between both eyes and a ray that points into the neutral

     * "straight-ahead" direction of the eyes. Each eye's adjustment

     * angle is 0.5 times the given value where positive values

     * correspond to the eyes moving inwards.

     */

    // @unit(radian)

    required float eye_vergence = 2 [default = 0.0];

    /**

     * Offset angles describing how much the head direction deviates

     * from @ref .target. The overall gaze (head + eyes) will still

     * point to the requested target

     *

     * [0, 0] corresponds to no offset.

     */

    required .rst.geometry.SphericalDirectionFloat offset = 3;

}

package rst.animation;

option java_outer_classname = "EmotionExpressionType";

/**

 * Description of one of a set of predefined emotions to express by a

 * robot for a certain time.

 *

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

 */

message EmotionExpression {

    /**

     * The available emotions to express. Apart from being neutral,

     * these relate to Ekman's basic emotions.

     */

    enum Emotion {

        /**

         * Neutral expression.

         */

        NEUTRAL = 0;

        /**

         * Happiness.

         */

        HAPPY = 1;

        /**

         * Sadness.

         */

        SAD = 2;

        /**

         * Being angry.

         */

        ANGRY = 3;

        /**

         * Being surprised.

         */

        SURPRISED = 4;

        /**

         * Being feared.

         */

        FEAR = 5;

    }

    /**

     * Indicates which emotion to express.

     */

    required Emotion emotion = 1;

    /**

     * The duration how long this emotion should be displayed.

     *

     * The duration is given in milliseconds.

     *

     * TODO: zero? Constraint or description

     */

    // @unit(millisecond)

    required uint32 duration = 2;

}

package rst.animation;

option java_outer_classname = "HeadAnimationType";

/**

 * This type describes a set of simple (predefined) animations to be

 * executed on a humanoid robotic head.

 *

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

 */

message HeadAnimation {

    /**

     * Predefined animation to execute by the head.

     */

    enum Animation {

        /**

         * No animation, idle.

         */

        IDLE = 0;

        /**

         * Nodding.

         */

        HEAD_NOD = 1;

        /**

         * Shake.

         */

        HEAD_SHAKE = 2;

        /**

         * Blink with the left eye.

         */

        EYEBLINK_LEFT = 3;

        /**

         * Blink with the right eye.

         */

        EYEBLINK_RIGHT = 4;

        /**

         * Blink with both eyes.

         */

        EYEBLINK_BOTH = 5;

        /**

         * Raise both eyebrows

         */

        EYEBROWS_RAISE = 6;

        /**

         * Lower the eyebrows.

         */

        EYEBROWS_LOWER = 7;

        /**

         * Shift the head orientation to the left.

         */

        ENGAGEMENT_LEFT = 8;

        /**

         * Shift the head orientation to the right.

         */

        ENGAGEMENT_RIGHT = 9;

    }

    /**

     * Requested animation to perform.

     */

    required Animation animation = 1;

    /**

     * Number of repetitions.

     *

     * Defaults to one repetition

     *

     * TODO: is 0 valid? What happens if so? Otherwise add a constraint.

     */

    required uint32 repetitions = 2 [default = 1];

    /**

     * The duration of each execution of the defined animation.

     *

     * The duration is given in milliseconds.

     *

     * TODO: as above zero...

     */

    // @unit(millisecond)

    required uint32 duration_each = 3;

    /**

     * How to scale the animation with respect to the expressed emphasis.

     *

     * Given as a float value. Different value ranges express the

     * following meanings:

     *

     *  * ``]0, 1[``: less pronounced

     *

     *  * ``[1, 1]``: as designed, no special emphasis

     *

     *  * ``]1, n]``: over pronounced

     */

    // @constraint(value > 0)

    required float emphasis_scale = 4 [default = 1.0];

}

/**

 * Contains types to describe animations to be performed. Character

 * animation is a specific application.

 */

package rst.animation;