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hlrc / client / python / test_relative_gaze.py @ 6229bceb

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#!/usr/bin/python
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"""
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This file is part of hlrc
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Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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http://opensource.cit-ec.de/projects/hlrc
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This file may be licensed under the terms of the
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GNU General Public License Version 3 (the ``GPL''),
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or (at your option) any later version.
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Software distributed under the License is distributed
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on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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express or implied. See the GPL for the specific language
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governing rights and limitations.
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You should have received a copy of the GPL along with this
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program. If not, go to http://www.gnu.org/licenses/gpl.html
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or write to the Free Software Foundation, Inc.,
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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The development of this software was supported by the
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Excellence Cluster EXC 277 Cognitive Interaction Technology.
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The Excellence Cluster EXC 277 is a grant of the Deutsche
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Forschungsgemeinschaft (DFG) in the context of the German
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Excellence Initiative.
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"""
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import logging
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from hlrc_client import *
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import time
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import sys
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import random
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if __name__ == "__main__":
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    random.seed()
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    r = RobotController("ROS", "/flobi", logging.DEBUG)
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    g = RobotGaze()
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    #create a relative gaze request at the current timestamp
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    #this will be sent multiple times, but as the 
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    #internal logic will resolve the motor positions
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    #at this specific time, it should only resolve to ONE
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    #target gaze:
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    g.gaze_type = RobotGaze.GAZETARGET_RELATIVE
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    g.gaze_timestamp = RobotTimestamp()
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    g.pan = random.uniform(-20, 20)
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    while(r.is_running()):
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        r.set_gaze_target(g, True)
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        time.sleep(1.0 / 50.0)