tut_brownian.orogen

name "tut_brownian"

import_types_from "base"

# This task context generates MotionCommand2D that makes the object follow a
# brownian motion
#
# More specifically, the task generates straight movements of a random speed
# in the [min_speed, max_speed] interval during straight_duration seconds. It
# then switches to a point-turning motion of a random speed in [-angle, angle]
# radians per second during turn_duration seconds.
task_context "Task" do
   property "straight_duration", "double", 5
   property "min_speed", "double", 0.5
   property "max_speed", "double", 1.5

   property "turn_duration", "double", 5
   property "max_angular_speed", "double", Math::PI/10

   # The generated command
   output_port "cmd", "/base/commands/Motion2D"

   periodic 0.1
end