mental_states

Mental State Manager

Overview

The Mental State Manager estimates the humans mental states concerning the current goal and Shared Plan. It bases its reasoning on all data published by the other supervisor modules and on the world states from all agents point of view given by TOASTER.

Topics

Published topics

• /mental_states/mental_states: mental states of the humans (supervisor_msgs/MentalStatesList)
• /mental_states/previous_actions: list of all previous actions. This list is the same as the one published by the data manager but is updated only after the module processed information in it in order not to have synchrinisation problems in the other modules. (supervisor_msgs/ActionsList)

Subscribed topics

• /database_manager/tables: knowledge concerning the world state for all agents (toaster_msgs/DatabaseTables)
• /goal_manager/goalsList: list of goals. (supervisor_msgs/GoalsList)
• /supervisor/previous_actions: list of previous actions. (supervisor_msgs/ActionsList)
• /plan_elaboration/plan: current Shared Plan. (supervisor_msgs/SharedPlan)
• /action_executor/current_robot_action: current action of the robot (supervisor_msgs/Action)
• /dialogue_node/infoGiven: information given by the robot (supervisor_msgs/InfoGiven)

Parameters

• nonObservableFacts: list of the facts which are non observable (string[])