Modular Motion Processor: RandomMotionReceiver.cpp Source File

00001 #include "RandomMotionReceiver.h"
00002 #include <unistd.h>
00003 #include <cstdlib>
00004 
00005 RandomMotionReceiver::~RandomMotionReceiver()
00006 {
00007     if (isRunning())
00008         stop();
00009 }
00010 
00011 void RandomMotionReceiver::stop()
00012 {
00013     setRunning(false);
00014 }
00015 
00016 void RandomMotionReceiver::run()
00017 {
00018     setRunning(true);
00019     Vector3d v;
00020     while (isRunning()) {
00021         v[0] += static_cast<double>((rand() % 70) - 35) / 100.0f;
00022         if (v[0] > 3.0)  v[0] = 3.0;
00023         if (v[0] < -3.0) v[0] = -3.0;
00024         v[1] += static_cast<double>((rand() % 70) - 35) / 100.0f;
00025         if (v[1] > 3.0)  v[1] = 3.0;
00026         if (v[1] < -3.0) v[1] = -3.0;
00027         v[2] += static_cast<double>((rand() % 70) - 35) / 100.0f;
00028         if (v[2] > 3.0)  v[2] = 3.0;
00029         if (v[2] < -3.0) v[2] = -3.0;
00030         notify(v);
00031 
00032         usleep(20000);
00033     }
00034 }