test-DownwardVision.C

00001 /*!@file Beosub/BeeBrain/test-DownwardVision.C                          */
00002 // //////////////////////////////////////////////////////////////////// //
00003 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00004 // University of Southern California (USC) and the iLab at USC.         //
00005 // See http://iLab.usc.edu for information about this project.          //
00006 // //////////////////////////////////////////////////////////////////// //
00007 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00008 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00009 // in Visual Environments, and Applications'' by Christof Koch and      //
00010 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00011 // pending; application number 09/912,225 filed July 23, 2001; see      //
00012 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00013 // //////////////////////////////////////////////////////////////////// //
00014 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00015 //                                                                      //
00016 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00017 // redistribute it and/or modify it under the terms of the GNU General  //
00018 // Public License as published by the Free Software Foundation; either  //
00019 // version 2 of the License, or (at your option) any later version.     //
00020 //                                                                      //
00021 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00022 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00023 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00024 // PURPOSE.  See the GNU General Public License for more details.       //
00025 //                                                                      //
00026 // You should have received a copy of the GNU General Public License    //
00027 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00028 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00029 // Boston, MA 02111-1307 USA.                                           //
00030 // //////////////////////////////////////////////////////////////////// //
00031 //
00032 // Primary maintainer for this file: Michael Montalbo <montalbo@usc.edu>
00033 <<<<<<< .mine
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/test-DownwardVision.C $
00035 // $Id: test-DownwardVision.C 9057 2007-11-28 04:29:48Z beobot $
00036 #include "BeoSub/BeeBrain/Globals.H"
00037 =======
00038 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/test-DownwardVision.C $
00039 // $Id: test-DownwardVision.C 9057 2007-11-28 04:29:48Z beobot $
00040 #include "SeaBee/Globals.H"
00041 >>>>>>> .r9393
00042 
00043 #include "BeoSub/BeeBrain/DownwardVision.H"
00044 #include "BeoSub/BeeBrain/OceanObject.H"
00045 
00046 int main( int argc, const char* argv[] )
00047 {
00048   DownwardVisionAgent dv = DownwardVisionAgent("DownwardVisionAgent");
00049 
00050   dv.msgFindAndTrackObject(1, OceanObject::CROSS, POSITION);
00051 
00052   std::cout<<"Num of Jobs: "<<dv.getNumJobs()<<std::endl;
00053 
00054   dv.msgFindAndTrackObject(1, OceanObject::CROSS, ORIENTATION);
00055 
00056   std::cout<<"Num of Jobs: "<<dv.getNumJobs()<<std::endl;
00057 
00058   dv.msgFindAndTrackObject(1, OceanObject::CROSS, MASS);
00059 
00060   std::cout<<"Num of Jobs: "<<dv.getNumJobs()<<std::endl;
00061 
00062   dv.msgFindAndTrackObject(2, OceanObject::BIN, POSITION);
00063 
00064   std::cout<<"Num of Jobs: "<<dv.getNumJobs()<<std::endl;
00065 
00066   dv.msgFindAndTrackObject(3, OceanObject::PIPE, POSITION);
00067 
00068   std::cout<<"Num of Jobs: "<<dv.getNumJobs()<<std::endl;
00069 
00070   dv.msgFindAndTrackObject(3, OceanObject::PIPE, ORIENTATION);
00071 
00072   std::cout<<"Num of Jobs: "<<dv.getNumJobs()<<std::endl;
00073 
00074   uint schedulerCount = 0;
00075   while(schedulerCount++ < 3)
00076     {
00077       dv.pickAndExecuteAnAction();
00078     }
00079 
00080   dv.msgStopLookingForObject(1, POSITION);
00081   dv.msgStopLookingForObject(1, ORIENTATION);
00082   dv.msgStopLookingForObject(1, MASS);
00083   dv.msgStopLookingForObject(2, POSITION);
00084   dv.msgStopLookingForObject(3, ORIENTATION);
00085   dv.msgStopLookingForObject(3, POSITION);
00086 
00087   //should not loop
00088   while(dv.pickAndExecuteAnAction());
00089 
00090   std::cout<<"Num of Jobs: "<<dv.getNumJobs()<<std::endl;
00091 
00092   return 0;
00093 }
00094 
00095 // ######################################################################
00096 /* So things look consistent in everyone's emacs... */
00097 /* Local Variables: */
00098 /* indent-tabs-mode: nil */
00099 /* End: */
00100 
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