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hlrc / client / cpp / examples / random_gaze / main.cpp @ dff2f3b4

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1 0c286af0 Simon Schulz
/*
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* This file is part of hlrc_client
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*
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* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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* http://opensource.cit-ec.de/projects/hlrc_server
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*
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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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*
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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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*
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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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*
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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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*/
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#include "RobotController.h"
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#include "RobotGaze.h"
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#include <unistd.h>
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float rand_float(float min, float max){
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    float f = (float)rand() / RAND_MAX;
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    return min + f * (max - min);
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}
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int main (int argc, char **argv){
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    if (argc != 3){
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        printf("usage: %s <middleware> <robot scope>\n", argv[0]);
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        printf("       <middleware> is either ROS or RSB\n");
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        printf("       <robot scope> e.g. /flobi or /icub\n\n");
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        exit(EXIT_FAILURE);
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    }
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    RobotController *robot_controller = new RobotController(argv[1], argv[2]); //"/flobi");
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    //robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::NEUTRAL));
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    RobotGaze gaze;
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    int count=0;
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    while(1){
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        if (count++ >= 50){
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                        //a new target every second:
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                        gaze.pan  = rand_float(-20.0, 20.0);
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                        gaze.tilt = rand_float(-20.0, 20.0);
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                        gaze.roll = 0.0;
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                        gaze.vergence = 0.0;
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            //robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::ANGRY));
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                        //reset counter
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                        count = 0;
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                }
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        robot_controller->set_gaze_target(gaze);
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                usleep(1000/50 * 1000 );
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    }        
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}