75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_SPACENAV_PRIVATE_HH_
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#define _GAZEBO_SPACENAV_PRIVATE_HH_
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#define SCALE 512.0
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/transport/transport.hh"
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namespace gazebo
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{
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namespace gui
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{
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/// \brief Private data for the SpaceNav class.
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class SpaceNavPrivate
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{
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/// \brief Constructor
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public: SpaceNavPrivate()
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{
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this->pollThread = NULL;
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this->stop = false;
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this->buttons[0] = 0;
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this->buttons[1] = 0;
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}
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/// \brief Destructor
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public: virtual ~SpaceNavPrivate()
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{
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this->stop = true;
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if (this->pollThread)
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this->pollThread->join();
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delete this->pollThread;
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this->pollThread = NULL;
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}
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/// \brief Additional thread
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public: boost::thread *pollThread;
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/// \brief Use to stop the additional thread that the plugin uses.
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public: bool stop;
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/// \brief Gazebo communication node pointer.
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public: transport::NodePtr node;
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/// \brief Publisher pointer used to publish the messages.
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public: transport::PublisherPtr joyPub;
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/// \brief Translation values below which joystick values return zero.
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public: math::Vector3 deadbandTrans;
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/// \brief Rotation values below which joystick values return zero.
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public: math::Vector3 deadbandRot;
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/// \brief button states
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public: int buttons[2];
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};
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}
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}
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#endif
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