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);

        }

}