www.pudn.com > hbp0.1.zip > classPersonalia.cpp

/*************************************************************************** 
                          classPersonalia.cpp 
 
  Keeps track of different people 
 
    begin                : Sun Feb 15 2004 
    copyright            : (C) 2004 by Bob Mottram 
    email                : fuzzgun@btinternet.com 
 ***************************************************************************/ 
 
/*************************************************************************** 
 *                                                                         * 
 *   This program is free software; you can redistribute it and/or modify  * 
 *   it under the terms of the GNU General Public License as published by  * 
 *   the Free Software Foundation; either version 2 of the License, or     * 
 *   (at your option) any later version.                                   * 
 *                                                                         * 
 ***************************************************************************/ 
 
#include  
#include  
#include "classPersonalia.h" 
 
 
/// 
 
/// Constructor 
/// 
 
classPersonalia::classPersonalia() 
{ 
  int i,j,k; 
 
  currentTime=0; 
  prev_personID=-1; 
   
  for (i=0;i 
/// Destructor 
///  
classPersonalia::~classPersonalia() 
{ 
  updateAverages(currentTime); 
  save("c:\\develop\\hbp\\people.dat"); 
} 
 
 
 
/// 
 
/// update the colour of clothing 
/// 
 
/// A unique ID number for the person 
/// red component of the clothing colour 
/// green component of the clothing colour 
/// blue component of the clothing colour 
void classPersonalia::updateWardrobe(int personID, int r, int g, int b) 
{ 
  int i,min,dist,winner; 
 
  winner = currentWardrobeID[personID]; 
  dist = abs(wardrobe[personID][winner][0] - r) + 
		   abs(wardrobe[personID][winner][1] - g) + 
		   abs(wardrobe[personID][winner][2] - b); 
  if (dist>50) 
  { 
    min=99999; 
    dist=0; 
    winner=-1; 
    for (i=0;i<5;i++) 
	{ 
      dist = abs(wardrobe[personID][i][0] - r) + 
		     abs(wardrobe[personID][i][1] - g) + 
		     abs(wardrobe[personID][i][2] - b); 
	  if (dist-1) 
  { 
	//update the wardrobe for the closest match 
    wardrobe[personID][winner][0] = wardrobe[personID][winner][0] + ((r - wardrobe[personID][winner][0])/2); 
    wardrobe[personID][winner][1] = wardrobe[personID][winner][1] + ((g - wardrobe[personID][winner][1])/2); 
    wardrobe[personID][winner][2] = wardrobe[personID][winner][2] + ((b - wardrobe[personID][winner][2])/2); 
	currentWardrobeID[personID] = winner; 
  } 
} 
 
/// 
 
/// update averages 
/// 
 
void classPersonalia::updateAverages(long time_elapsed) 
{ 
  int i,j,k; 
  long observation_time; 
 
  if (time_elapsed>0) 
  { 
    for (i=0;i0) 
		{ 
	      intimacy[i][0] = (intimacy[i][0] + (intimacy[i][1] / observation_time))/2; 
          engagement[i][0] = (engagement[i][0] + ((engagement[i][1] * 100) / observation_time))/2; 
          expressiveness[i][0]  = 0; 
          intensity[i][0]       = 0; 
          aggressiveness[i][0]  = 0; 
          verbosity[i][0]       = 0; 
          instructiveness[i][0] = 0; 
		} 
	  } 
 
	  //store the history 
      for (j=PERSONAL_HISTORY-1;j>0;j--) 
	    for (k=0;k<10;k++) 
		  history[i][j][k] = history[i][j-1][k]; 
 
	  history[i][0][0] = familiarity[i][0]; 
	  history[i][0][1] = intimacy[i][0]; 
	  history[i][0][2] = engagement[i][0]; 
	  history[i][0][3] = expressiveness[i][0]; 
	  history[i][0][4] = intensity[i][0]; 
	  history[i][0][5] = aggressiveness[i][0]; 
      history[i][0][6] = verbosity[i][0]; 
	  history[i][0][7] = instructiveness[i][0]; 
	  history[i][0][8] = currentWardrobeID[i]; 
 
	} 
  } 
} 
 
 
/// 
 
/// update using the given person detector 
/// 
 
/// person detection object 
void classPersonalia::update(classHumunculus *persondetector) 
{ 
  int personID; 
 
  if (persondetector!=NULL) 
  { 
    personID = persondetector->personID - 1; 
 
    if ((personID>-1) && (personIDgetPersonName(personID,name[personID]); 
	    initialised[personID]=true; 
	  } 
 
	  //increase the familiarity with this person 
      familiarity[personID][1]++; 
 
	  //calculate intimacy 
	  intimacy[personID][1] += persondetector->bodyWidth; 
 
	  //if the person is within "personal space" range then assume they are engaging the robot 
	  if (persondetector->bodyWidth>25) engagement[personID][1]++; 
 
	  //update colour of clothing being worn 
	  updateWardrobe(personID,persondetector->bodyColour[0],persondetector->bodyColour[1],persondetector->bodyColour[2]); 
	} 
 
    prev_personID = personID; 
  } 
} 
 
 
 
/// 
 
/// Save details about observed people 
/// 
 
/// The filename to save to 
void classPersonalia::save(char *filename) 
{ 
  int i,j,k; 
  FILE *fp; 
  
  fp = fopen(filename, "w"); 
 
  if (fp != NULL) 
  { 
 
    fprintf(fp,"%d\n",MAX_PEOPLE); 
    for (i=0;i 
/// Load details about observed people 
///  
/// The filename to load from 
void classPersonalia::load(char *filename) 
{ 
  int i,j,k,NoOfPeople,p; 
  long v; 
  FILE *fp; 
  
  fp = fopen(filename, "r"); 
 
  if (fp != NULL) 
  { 
 
    fscanf(fp,"%d\n",&NoOfPeople); 
    for (i=0;i