/// <summary>
/// Creates the person finder Signatures
/// </summary>
private void CreatePersonFinderSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromTypes(typeof(string), typeof(double), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(string), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(string));
sgnFindHuman = sb.GenerateSignature("pf_find");
sgnRememberHuman = sb.GenerateSignature("pf_remember");
}
/// <summary>
/// Creates the Arm Signatures
/// </summary>
private void CreateHeadSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(double), typeof(double));
sgnHeadLookAt = sb.GenerateSignature("hd_lookat");
sb.Clear();
sb.AddNewFromTypes(typeof(string), typeof(double));
sb.AddNewFromTypes(typeof(string));
sgnHeadShow = sb.GenerateSignature("hd_show");
}
/// <summary>
/// Creates the object finder Signatures
/// </summary>
private void CreateObjectFinderSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromTypes(typeof(string), typeof(double), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(string), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(string));
sgnFindObjectTop = sb.GenerateSignature("oft_find");
sgnFindObjectMiddle = sb.GenerateSignature("ofm_find");
sgnFindObjectBottom = sb.GenerateSignature("ofb_find");
sb.Clear();
sb.AddNewFromTypes(typeof(string));
sgnTrainObjectTop = sb.GenerateSignature("oft_train");
sgnTrainObjectMiddle = sb.GenerateSignature("ofm_train");
sgnTrainObjectBottom = sb.GenerateSignature("ofb_train");
}
/// <summary>
/// Creates the SpeechGenerator Signatures
/// </summary>
private void CreateSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromTypes(typeof(string));
sgnSay = sb.GenerateSignature("spg_say");
sgnAsyncSay = sb.GenerateSignature("spg_asay");
sgnRead = sb.GenerateSignature("spg_read");
sgnAsyncRead = sb.GenerateSignature("spg_aread");
sgnVoice = sb.GenerateSignature("spg_voice");
sgnShutUp = sb.GenerateSignature("spg_shutup");
}
/// <summary>
/// Creates the object finder Signatures
/// </summary>
private void CreateKinectTrackerSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromTypes(typeof(string));
sgnFindObject = sb.GenerateSignature("kt_find");
sgnTrainObject = sb.GenerateSignature("kt_train");
sb.Clear();
// Calibra una persona y devuelve el Id de la persona calibrada
sb.AddNewFromTypes(typeof(int));
//sb.AddNewFromTypes();
sgnCalibrate = sb.GenerateSignature("kt_calibrate");
sb.Clear();
// Locate
// Skeleton Devuelve las coordenadas x, y, z del centro del esqueleto
// Cammera Devuelve la ubicacion del centroide de la camisa de la persona detectada 2 double (ang in rad)
sb.AddNewFromTypes(typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double));
sgnLocate = sb.GenerateSignature("kt_calibrate");
}
/// <summary>
/// Creates the Base Signatures
/// </summary>
private void CreateSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromTypes(typeof(string));
//sgnNa = sb.GenerateSignature("sprec_na");
//sgnEna = sb.GenerateSignature("sprec_ena");
//sgnRaw = sb.GenerateSignature("sprec_raw");
//sgnStatus = sb.GenerateSignature("sprec_status");
//sgnLoadGrammar = sb.GenerateSignature("load_grammar");
//sgnGetGrammar = sb.GenerateSignature("get_grammar");
sgnNa = sb.GenerateSignature("sprec_na");
sgnRaw = sb.GenerateSignature("spr_raw");
sgnStatus = sb.GenerateSignature("spr_status");
sgnGrammar = sb.GenerateSignature("spr_grammar");
}
/// <summary>
/// Creates the Man Signatures
/// </summary>
private void CreateManipulatorSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
//sgnManGoTo = sb.GenerateSignature("manGoto");
//sb.Clear();
sb.AddNewFromTypes(typeof(int));
sb.AddNewFromTypes();
sgnOpenGrip = sb.GenerateSignature("man_open");
sgnCloseGrip = sb.GenerateSignature("man_close");
sb.Clear();
sb.AddNewFromTypes(typeof(double));
sb.AddNewFromTypes();
sgnTilt = sb.GenerateSignature("man_tilt");
sb.Clear();
sb.AddNewFromTypes(typeof(int), typeof(double));
sb.AddNewFromTypes();
sgnStatus = sb.GenerateSignature("man_status");
}
/// <summary>
/// Creates the Base Signatures
/// </summary>
private void CreateBaseSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
//sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(double));
sb.AddNewFromTypes(typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double));
sgnMove = sb.GenerateSignature("mp_move");
sb.Clear();
sb.AddNewFromTypes(typeof(string), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(string), typeof(double), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(string), typeof(string), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(string), typeof(string), typeof(double), typeof(double), typeof(double));
sgnGoTo = sb.GenerateSignature("mp_goto");
sb.Clear();
sb.AddNewFromTypes(typeof(string));
sgnObstacle = sb.GenerateSignature("mp_obstacle");
sb.Clear();
sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double));
sgnPosition = sb.GenerateSignature("mp_position");
sb.Clear();
sb.AddNewFromTypes(typeof(string), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(string), typeof(double), typeof(double), typeof(double), typeof(double));
sgnAddObject = sb.GenerateSignature("mp_addobject");
}
/// <summary>
/// Creates the Arm Signatures
/// </summary>
private void CreateArmSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
//sgnArmGoTo = sb.GenerateSignature("armGoto");
//sb.Clear();
sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double), typeof(double), typeof(double), typeof(double), typeof(double));
sgnArmGetAbsPos = sb.GenerateSignature("ra_abspos");
sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double), typeof(double), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double));
sgnArmSetAbsPos = sb.GenerateSignature("ra_abspos");
sgnArmSetRelPos = sb.GenerateSignature("ra_relpos");
sb.Clear();
sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double));
sgnArmSetOrientation = sb.GenerateSignature("ra_orientation");
sgnArmGetOrientation = sb.GenerateSignature("ra_orientation");
sb.Clear();
sb.AddNewFromTypes(typeof(int));
sb.AddNewFromTypes();
sgnArmOpenGrip = sb.GenerateSignature("ra_opengrip");
sgnArmCloseGrip = sb.GenerateSignature("ra_closegrip");
sb.Clear();
sb.AddNewFromTypes(typeof(string));
sgnArmGoTo = sb.GenerateSignature("ra_goto");
sgnArmMove = sb.GenerateSignature("ra_move");
sgnArmTorque = sb.GenerateSignature("ra_torque");
}
/// <summary>
/// Creates the Man Signatures
/// </summary>
private void CreateManipulatorSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
//sgnManGoTo = sb.GenerateSignature("manGoto");
//sb.Clear();
sb.AddNewFromTypes(typeof(int));
sb.AddNewFromTypes();
sgnOpenGrip = sb.GenerateSignature("man_open");
sgnCloseGrip = sb.GenerateSignature("man_close");
sb.Clear();
sb.AddNewFromTypes(typeof(double));
sb.AddNewFromTypes();
sgnTilt = sb.GenerateSignature("man_tilt");
sb.Clear();
sb.AddNewFromTypes(typeof(int), typeof(double));
sb.AddNewFromTypes();
sgnStatus = sb.GenerateSignature("man_status");
}
/// <summary>
/// Creates the Arm Signatures
/// </summary>
private void CreateHeadSignatures()
{
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromTypes(typeof(double), typeof(double), typeof(double));
sb.AddNewFromTypes(typeof(double), typeof(double));
sgnHeadLookAt = sb.GenerateSignature("hd_lookat");
sb.Clear();
sb.AddNewFromTypes(typeof(string), typeof(double));
sb.AddNewFromTypes(typeof(string));
sgnHeadShow = sb.GenerateSignature("hd_show");
}
