def force_gaze_action(gaze_action):
'''Triggers a gaze action, even if enable_social_gaze is false.
Args:
gaze_action (int): One of the constants defined in
Gaze.action.
'''
goal = GazeGoal()
goal.action = gaze_action
Response.gaze_client.send_goal(goal)
def perform_gaze_action(gaze_action):
'''Triggers a gaze action.
Args:
gaze_action (int): One of the constants defined in
Gaze.action.
'''
goal = GazeGoal()
goal.action = gaze_action
Response.gaze_client.send_goal(goal)
def perform_gaze_action(gaze_action):
'''Triggers a gaze action.
Args:
gaze_action (int): One of the constants defined in
Gaze.action.
'''
if Response._enable_social_gaze is None:
Response._enable_social_gaze = rospy.get_param(
'/enable_social_gaze', True)
if Response._enable_social_gaze:
goal = GazeGoal()
goal.action = gaze_action
Response.gaze_client.send_goal(goal)
def force_look_at_point(point):
'''Looks at a specific point even if enable_social_gaze is false
Args:
point (Point) in the base frame to look at
'''
Response.gaze_client.send_goal(GazeGoal(GazeGoal.LOOK_AT_POINT, point))
def look_at_point(point):
'''Looks at a specific point.
Args:
point (Point)
'''
Response.gaze_client.send_goal(GazeGoal(GazeGoal.LOOK_AT_POINT, point))
def look_at_point(point):
'''Looks at a specific point.
Args:
point (Point)
'''
if Response._enable_social_gaze is None:
Response._enable_social_gaze = rospy.get_param(
'/enable_social_gaze', True)
if Response._enable_social_gaze:
Response.gaze_client.send_goal(
GazeGoal(GazeGoal.LOOK_AT_POINT, point))
def perform_gaze_action(gaze_action):
''' Triggers a gaze action'''
goal = GazeGoal()
goal.action = gaze_action
Response.gaze_client.send_goal(goal)
def perform_gaze_action(gaze_action):
''' Triggers a gaze action'''
goal = GazeGoal()
goal.action = gaze_action
Response.gaze_client.send_goal(goal)