hlrc

/*

* This file is part of hlrc_client

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/hlrc_server

*

* This file may be licensed under the terms of the

* GNU General Public License Version 3 (the ``GPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the GPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the GPL along with this

* program. If not, go to http://www.gnu.org/licenses/gpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*

*/

#include "RobotController.h"

#include "RobotGaze.h"

#include <unistd.h>

float rand_float(float min, float max){

    float f = (float)rand() / RAND_MAX;

    return min + f * (max - min);

}

int main (int argc, char **argv){

    if (argc != 3){

        printf("usage: %s <middleware> <robot scope>\n", argv[0]);

        printf("       <middleware> is either ROS or RSB\n");

        printf("       <robot scope> e.g. /flobi or /icub\n\n");

        exit(EXIT_FAILURE);

    }

    RobotController *robot_controller = new RobotController(argv[1], argv[2]); //"/flobi");

    //robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::NEUTRAL));

    RobotGaze gaze;

    int count=0;

    while(1){

        if (count++ >= 50){

                        //a new target every second:

                        gaze.pan  = rand_float(-20.0, 20.0);

                        gaze.tilt = rand_float(-20.0, 20.0);

                        gaze.roll = 0.0;

                        gaze.vergence = 0.0;

            //absolute mode

            gaze.gaze_type      = RobotGaze::ABSOLUTE;

            gaze.gaze_timestamp = RobotTimestamp::now();

            //robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::ANGRY));

                        //reset counter

                        count = 0;

                }

        robot_controller->set_gaze_target(gaze);

                usleep(1000/50 * 1000 );

    }        

}