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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