.. _program_listing_file_include_hri_person.hpp:

Program Listing for File person.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_hri_person.hpp>` (``include/hri/person.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2023 PAL Robotics S.L. All rights reserved.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef HRI__PERSON_HPP_
   #define HRI__PERSON_HPP_
   
   #include <functional>
   #include <memory>
   #include <optional>
   #include <string>
   
   #include "geometry_msgs/msg/transform_stamped.hpp"
   #include "hri_msgs/msg/engagement_level.hpp"
   #include "std_msgs/msg/float32.hpp"
   #include "std_msgs/msg/string.hpp"
   #include "std_msgs/msg/bool.hpp"
   #include "tf2_ros/buffer.h"
   
   #include "hri/body.hpp"
   #include "hri/face.hpp"
   #include "hri/feature_tracker.hpp"
   #include "hri/types.hpp"
   #include "hri/voice.hpp"
   
   namespace hri
   {
   
   class HRIListener;
   
   class Person : public FeatureTracker, public std::enable_shared_from_this<Person>
   // TODO(LJU): possibly subscribe also to the /name and the /native_language sub-topics
   {
     friend class HRIListener;  // for invalidate()
   
   public:
     Person(
       ID id,
       NodeInterfaces node_interfaces,
       rclcpp::CallbackGroup::SharedPtr callback_group,
       std::weak_ptr<const HRIListener> listener,
       const tf2::BufferCore & tf_buffer,
       const std::string & reference_frame);
   
     virtual ~Person();
   
     ConstFacePtr face() const;
   
     ConstBodyPtr body() const;
   
     ConstVoicePtr voice() const;
   
     std::optional<bool> anonymous() const {return anonymous_;}
     std::optional<EngagementLevel> engagementStatus() const {return engagement_status_;}
     std::optional<float> locationConfidence() const {return loc_confidence_;}
     std::optional<ID> alias() const {return alias_;}
   
     std::optional<geometry_msgs::msg::TransformStamped> transform() const override;
   
   private:
     void onFaceId(std_msgs::msg::String::ConstSharedPtr msg);
     void onBodyId(std_msgs::msg::String::ConstSharedPtr msg);
     void onVoiceId(std_msgs::msg::String::ConstSharedPtr msg);
     void onAnonymous(std_msgs::msg::Bool::ConstSharedPtr msg);
     void onAlias(std_msgs::msg::String::ConstSharedPtr msg);
     void onEngagementStatus(hri_msgs::msg::EngagementLevel::ConstSharedPtr msg);
     void onLocationConfidence(std_msgs::msg::Float32::ConstSharedPtr msg);
   
     void invalidate();
   
     std::weak_ptr<const HRIListener> listener_;
   
     std::optional<ID> face_id_;
     std::optional<ID> body_id_;
     std::optional<ID> voice_id_;
     // if non-empty, this person 'does not exist' and is instead an alias to
     // another person.  hri::getPersons and hri::getTrackedPersons will returns
     // pointers to the aliased person.
     std::optional<ID> alias_;
     std::optional<bool> anonymous_;
     std::optional<EngagementLevel> engagement_status_;
     std::optional<float> loc_confidence_;
   
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr face_id_subscriber_;
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr body_id_subscriber_;
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr voice_id_subscriber_;
     rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr anonymous_subscriber_;
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr alias_subscriber_;
     rclcpp::Subscription<hri_msgs::msg::EngagementLevel>::SharedPtr engagement_subscriber_;
     rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr loc_confidence_subscriber_;
   };
   
   typedef std::shared_ptr<Person> PersonPtr;
   typedef std::shared_ptr<const Person> ConstPersonPtr;
   
   }  // namespace hri
   
   #endif  // HRI__PERSON_HPP_