81 lines
2.6 KiB
C++
81 lines
2.6 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_HH_
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#define _GAZEBO_SPACENAV_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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class SpaceNavPrivate;
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/// \class SpaceNav SpacNav.hh gui/gui.hh
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/// \brief Interface to the space navigator joystick.
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///
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/// The space nav can be configured in ~/.gazebo/gui.in with the following:
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///
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/// \code
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/// [spacenav]
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/// deadband_x = 0.1
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/// deadband_y = 0.1
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/// deadband_z = 0.1
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/// deadband_rx = 0.1
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/// deadband_ry = 0.1
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/// deadband_rz = 0.1
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/// topic=~/spacenav/joy
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/// \endcode
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///
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/// - deadband is the threshold below which a zero value is returned
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/// - deadband_x : Deadband for x translation
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/// - deadband_y : Deadband for y translation
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/// - deadband_z : Deadband for z translation
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/// - deadband_rx : Deadband for x-axis rotation
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/// - deadband_ry : Deadband for y-axis rotation
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/// - deadband_rz : Deadband for z-axis rotation
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/// - topic is the name of the topic on which joystick messages are
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/// published.
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class SpaceNav
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{
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/// \brief Constructor.
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public: SpaceNav();
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/// \brief Destructor.
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public: virtual ~SpaceNav();
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/// \brief Open the space navigator interface, and start polling.
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/// \return True if the space navigator was successfully opened, or
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/// when the space navigator 3rd party library is not installed.
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/// False otherwise.
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public: bool Load();
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/// \brief Method executed in a separate thread to poll the space
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/// navigator for updates.
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private: void Run();
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/// \brief Apply deadband calculation to a raw joystick value.
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/// \param[in] _deadband Deadband value, between 0 and 1.
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/// \param[in] _value Joystick value, between 0 and 1.
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/// \return Result of deadband calculation.
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private: double Deadband(double _deadband, double _value) const;
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/// \brief Private data.
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private: SpaceNavPrivate *dataPtr;
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};
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}
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}
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#endif
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