test-BeoHead.C

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00001 /*!@file AppDevices/test-BeoHead.C Test Robot Head  */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // University of Southern California (USC) and the iLab at USC.         //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Lior Elazary <elazary@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/AppDevices/test-BeoHead.C $
00035 // $Id: test-BeoHead.C 8267 2007-04-18 18:24:24Z rjpeters $
00036 //
00037 
00038 #include "Component/ModelManager.H"
00039 #include "Devices/BeoHead.H"
00040 #include "Util/log.H"
00041 
00042 #include <stdio.h>
00043 #include <math.h>
00044 
00045 int main(int argc, const char **argv)
00046 {
00047   // Instantiate a ModelManager:
00048   ModelManager manager("Test Robot Head");
00049 
00050   // Instantiate our various ModelComponents:
00051   nub::soft_ref<BeoHead> beoHead(new BeoHead(manager));
00052   manager.addSubComponent(beoHead);
00053 
00054   // Parse command-line:
00055   if (manager.parseCommandLine(argc, argv, "", 0, 0) == false) return(1);
00056 
00057   // let's get all our ModelComponent instances started:
00058   manager.start();
00059 
00060   //subject the eye to a sin wave
00061   for (float i=(M_PI/2); i<(16.5*M_PI); i += 0.01)
00062   {
00063     float tilt_pos = sin(i);
00064     float pan_pos = sin(i+(M_PI/2));
00065 
00066     beoHead->setLeftEyeTilt(tilt_pos);
00067     beoHead->setLeftEyePan(pan_pos);
00068 
00069     beoHead->setRightEyeTilt(tilt_pos);
00070     beoHead->setRightEyePan(pan_pos);
00071 
00072     beoHead->setHeadTilt(tilt_pos);
00073     beoHead->setHeadPan(pan_pos);
00074 
00075     usleep(1000);
00076   }
00077 
00078   // stop all our ModelComponents
00079   manager.stop();
00080 
00081   // all done!
00082   return 0;
00083 }
00084 
00085 // ######################################################################
00086 /* So things look consistent in everyone's emacs... */
00087 /* Local Variables: */
00088 /* indent-tabs-mode: nil */
00089 /* End: */
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