def __init__(self, args):
self.keychains = map(
lambda shapekey: Utils.DictKeyChain([
"m_coeffs",
ShapekeyStore.getIndex(shapekey)
]),
args["shapekey"].split(";")
)
def _build_msg(cls, expr_entry=None):
"""
Takes an entry from the config file and returns a constructed ROS message.
"""
msg = fsMsgTrackingState()
msg.m_coeffs = [0]*cls.M_COEFFS_LEN
# Allow creation of a neutral face without an expression yaml entry.
if expr_entry == None:
return msg
for shapekey in expr_entry:
index = ShapekeyStore.getIndex(shapekey)
if (index == None):
rospy.logwarn("Invalid shapekey in expression data: %s", shapekey)
else:
msg.m_coeffs[index] = expr_entry[shapekey]
return msg
def hit(self, rms):
"""
Publishes the current jaw-modified expression, given rms (root mean squared),
the volume or the power of a small segment in the file.
"""
# Map the power number to the jaw coefficient.
# Note that coefficient can't effectively go below 0 or over 1.
# It will be cut to this range at the receiving end (pau2motors node)
p = self.rms_params
jaw_coeff = min(max(math.sqrt(rms * p["scale"]), p["min"]), p["max"])
# Copy pau expression message stored during handle_face_in(),
# modify jaw and publish.
cmd = copy.deepcopy(self.facepau)
coeffs = list(cmd.m_coeffs)
coeffs[ShapekeyStore.getIndex("JawOpen")] = jaw_coeff
cmd.m_coeffs = coeffs
self.pub.publish(cmd)
def __init__(self, args):
self.keychains = map(
lambda shapekey: Utils.DictKeyChain(
["m_coeffs", ShapekeyStore.getIndex(shapekey)]),
args["shapekey"].split(";"))
