Front-end to create instance objects step by step. More...

#include <libacoustic_touch.h>

Public Member Functions
	InstanceBuilder (string mode)
	Constructs the object. First sets up the ROS elements. More...

	~InstanceBuilder ()
	Destroys the object. Now, since we're working with elements that auto-destroy properly its function is merely conventional. More...

void	startGestureCallback (const std_msgs::Int8::ConstPtr &msg)
	Starts a gesture callback. More...

void	endGestureCallback (const touch_gesture_msgs::SoundGesture::ConstPtr &msg)
	This callbacks first extract the info from the message, then modifies the appropriate sound gesture inside the class and finally triggers the timer that establish the end of the gesture. More...

bool	optionsCallback (acoustic_touch_recognition::MenuOptions::Request &req, acoustic_touch_recognition::MenuOptions::Response &res)
	This is the training service callback. In the request it can receive changes in the three one of the class attributes or a shutdown request, commanding this object to close the file and shutdown this node. More...

void	timerCallback (const ros::TimerEvent &)
	The timer callback ends when it is considered that the gesture is over. It is refreshed for each microphone that sends a gesture and once is finished, writes all the gestures in the file and cleans the container with the sound gestures. More...

void	shutdownCallback (const ros::TimerEvent &)
	This callback allows the system to shutdown properly. Once the timer is set, the node sends back the signal to the client that sent in the first place the shutdown signal. More...

void	setSoundGestures (vector< SoundGesture > s_gests)
	Sets the sound gestures at once. Might be unused but useful. More...

void	setSoundGestures (SoundGesture s_gest, int index)
	Sets the sound gestures individually. More...

void	clearSoundGestures ()
	This function clear every sound gesture in the vector (sets zeros to its attributes) and set the empty flag to true. More...

void	clearSoundGestures (int index)
	Atomic function that erases all the attributes (substitutes them with zeros) from the selected sound gesture and set the empty flag to true. More...

void	setClassAttributes (string index, string c_att)
	Sets the class attributes. Checks if the key is already in the container. More...

void	setFile (string path)
	This function assigns the file path and opens the file. If the file was not created, the system will create the arff file from scratch. More...

void	closeFile ()
	Closes the file. Used when receiving shutdown signal. More...

vector< SoundGesture >	getSoundGestures () const
	Gets the sound gestures. More...

SoundGesture	getSoundGestures (int index) const
	Gets the sound gestures. Atomic function. More...

void	init ()
	Initializes the object by extracting the parameters from the parameter server, then the sound gesture-related and finally sets up the file that will be created or overwritten. More...

bool	fileExists (string path)
	This function checks if a file with a certain name exists. More...

void	createArffFile ()
	Creates an arff file. The format associated is the Multi-target Meka format. More...

void	writeGestures ()
	Writes a gesture in the file of the class. When it is done clear the containers, setting the empty flags to true. More...

Private Attributes
ros::NodeHandle	nh_

ros::Publisher	gesture_pub_

ros::Subscriber	gest_start_sub_

bool	flag_start_sub_

ros::Subscriber	gest_end_sub_

ros::ServiceServer	settings_srv_

ros::Timer	timer_

ros::Timer	shutdown_timer_

string	robot_

const string	mode_

int	mic_amount_

vector< SoundGesture >	sound_gestures_

XmlRpc::XmlRpcValue	class_labels_

XmlRpc::XmlRpcValue	train_labels_

vector< string >	label_names_

string	path_

fstream	sound_file_

Detailed Description

Front-end to create instance objects step by step.

Constructor & Destructor Documentation

◆ InstanceBuilder()

InstanceBuilder::InstanceBuilder ( string mode )

Constructs the object. First sets up the ROS elements.

Parameters

[in] mode The mode. Can be "train" or "classify"

◆ ~InstanceBuilder()

InstanceBuilder::~InstanceBuilder ( )

Destroys the object. Now, since we're working with elements that auto-destroy properly its function is merely conventional.

Member Function Documentation

◆ clearSoundGestures() [1/2]

void InstanceBuilder::clearSoundGestures ( )

This function clear every sound gesture in the vector (sets zeros to its attributes) and set the empty flag to true.

◆ clearSoundGestures() [2/2]

void InstanceBuilder::clearSoundGestures ( int index )

Atomic function that erases all the attributes (substitutes them with zeros) from the selected sound gesture and set the empty flag to true.

Parameters

[in] index The index of the element

◆ closeFile()

void InstanceBuilder::closeFile ( )

Closes the file. Used when receiving shutdown signal.

◆ createArffFile()

void InstanceBuilder::createArffFile ( )

Creates an arff file. The format associated is the Multi-target Meka format.

◆ endGestureCallback()

void InstanceBuilder::endGestureCallback ( const touch_gesture_msgs::SoundGesture::ConstPtr & msg )

This callbacks first extract the info from the message, then modifies the appropriate sound gesture inside the class and finally triggers the timer that establish the end of the gesture.

Parameters

[in] msg The message containing one sound gesture from one microphone

◆ fileExists()

bool InstanceBuilder::fileExists ( string path )

This function checks if a file with a certain name exists.

Parameters

[in] path The path of the file with te name included

Returns: Returns true if the file exists, false otherwise

◆ getSoundGestures() [1/2]

vector< SoundGesture > InstanceBuilder::getSoundGestures ( ) const

Gets the sound gestures.

Returns: The sound gestures.

◆ getSoundGestures() [2/2]

SoundGesture InstanceBuilder::getSoundGestures ( int index ) const

Gets the sound gestures. Atomic function.

Parameters

[in] index The index

Returns: The sound gestures.

◆ init()

void InstanceBuilder::init ( )

Initializes the object by extracting the parameters from the parameter server, then the sound gesture-related and finally sets up the file that will be created or overwritten.

◆ optionsCallback()

bool InstanceBuilder::optionsCallback	(	acoustic_touch_recognition::MenuOptions::Request &	req,
		acoustic_touch_recognition::MenuOptions::Response &	res
	)

This is the training service callback. In the request it can receive changes in the three one of the class attributes or a shutdown request, commanding this object to close the file and shutdown this node.

Parameters

req	The request containing the class attributes or the shutdown command
res	The response is just an integer

Returns: The service callbacks return true if the task has been done properly or false otherwise. This is because the client of the service is kept on hold until the task is finished.

◆ setClassAttributes()

void InstanceBuilder::setClassAttributes	(	string	index,
		string	c_att
	)

Sets the class attributes. Checks if the key is already in the container.

Parameters

[in]	c_att	The class attribute value
[in]	index	The index, since is train_labels_ element is a map, the index is a string

◆ setFile()

void InstanceBuilder::setFile ( string path )

This function assigns the file path and opens the file. If the file was not created, the system will create the arff file from scratch.

Parameters

[in] path The path

◆ setSoundGestures() [1/2]

void InstanceBuilder::setSoundGestures ( vector< SoundGesture > s_gests )

Sets the sound gestures at once. Might be unused but useful.

Parameters

[in] s_gests The sound gestures

◆ setSoundGestures() [2/2]

void InstanceBuilder::setSoundGestures	(	SoundGesture	s_gest,
		int	index
	)

Sets the sound gestures individually.

Parameters

[in]	s_gest	The sound gesture which will be copied.
[in]	index	The index. Check if it is out of bounds.

◆ shutdownCallback()

void InstanceBuilder::shutdownCallback ( const ros::TimerEvent & )

This callback allows the system to shutdown properly. Once the timer is set, the node sends back the signal to the client that sent in the first place the shutdown signal.

Parameters

[in] ros::TimerEvent Contains info about the event (times, durations, etc.)

◆ startGestureCallback()

void InstanceBuilder::startGestureCallback ( const std_msgs::Int8::ConstPtr & msg )

Starts a gesture callback.

Parameters

[in] msg The message

◆ timerCallback()

void InstanceBuilder::timerCallback ( const ros::TimerEvent & )

The timer callback ends when it is considered that the gesture is over. It is refreshed for each microphone that sends a gesture and once is finished, writes all the gestures in the file and cleans the container with the sound gestures.

Parameters

[in] ros::TimerEvent When the time is over the timer pops a timer event, starting the callbacks associated with this events.

◆ writeGestures()

void InstanceBuilder::writeGestures ( )

Writes a gesture in the file of the class. When it is done clear the containers, setting the empty flags to true.

Member Data Documentation

◆ class_labels_

XmlRpc::XmlRpcValue InstanceBuilder::class_labels_

private

◆ flag_start_sub_

bool InstanceBuilder::flag_start_sub_

private

◆ gest_end_sub_

ros::Subscriber InstanceBuilder::gest_end_sub_

private

◆ gest_start_sub_

ros::Subscriber InstanceBuilder::gest_start_sub_

private

◆ gesture_pub_

ros::Publisher InstanceBuilder::gesture_pub_

private

◆ label_names_

vector<string> InstanceBuilder::label_names_

private

◆ mic_amount_

int InstanceBuilder::mic_amount_

private

◆ mode_

const string InstanceBuilder::mode_

private

◆ nh_

ros::NodeHandle InstanceBuilder::nh_

private

◆ path_

string InstanceBuilder::path_

private

◆ robot_

string InstanceBuilder::robot_

private

◆ settings_srv_

ros::ServiceServer InstanceBuilder::settings_srv_

private

◆ shutdown_timer_

ros::Timer InstanceBuilder::shutdown_timer_

private

◆ sound_file_

fstream InstanceBuilder::sound_file_

private

◆ sound_gestures_

vector<SoundGesture> InstanceBuilder::sound_gestures_

private

◆ timer_

ros::Timer InstanceBuilder::timer_

private

◆ train_labels_

XmlRpc::XmlRpcValue InstanceBuilder::train_labels_

private

The documentation for this class was generated from the following files:

/home/trekirk/ROS/catkin_dev/src/acoustic_touch_recognition/include/acoustic_touch_recognition/libacoustic_touch.h
/home/trekirk/ROS/catkin_dev/src/acoustic_touch_recognition/src/acoustic_touch_recognition/instance_builder.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ InstanceBuilder()

◆ ~InstanceBuilder()

Member Function Documentation

◆ clearSoundGestures() [1/2]

◆ clearSoundGestures() [2/2]

◆ closeFile()

◆ createArffFile()

◆ endGestureCallback()

◆ fileExists()

◆ getSoundGestures() [1/2]

◆ getSoundGestures() [2/2]

◆ init()

◆ optionsCallback()

◆ setClassAttributes()

◆ setFile()

◆ setSoundGestures() [1/2]

◆ setSoundGestures() [2/2]

◆ shutdownCallback()

◆ startGestureCallback()

◆ timerCallback()

◆ writeGestures()

Member Data Documentation

◆ class_labels_

◆ flag_start_sub_

◆ gest_end_sub_

◆ gest_start_sub_

◆ gesture_pub_

◆ label_names_

◆ mic_amount_

◆ mode_

◆ nh_

◆ path_

◆ robot_

◆ settings_srv_

◆ shutdown_timer_

◆ sound_file_

◆ sound_gestures_

◆ timer_

◆ train_labels_