109 lines
3.1 KiB
C++
109 lines
3.1 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_RAZER_HYDRA_HH_
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#define _GAZEBO_RAZER_HYDRA_HH_
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#include <gazebo/math/Filter.hh>
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#include <gazebo/math/Vector3.hh>
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#include <gazebo/common/Plugin.hh>
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namespace gazebo
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{
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class GAZEBO_VISIBLE RazerHydra : public WorldPlugin
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{
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/// \brief Constructor.
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public: RazerHydra();
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/// \brief Destructor.
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public: virtual ~RazerHydra();
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// Documentation Inherited.
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public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);
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/// \brief Poll the hydra for input.
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/// \param[in] _lowPassCornerHz Filter frequency.
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/// \return true when there is a new update coming from the controller.
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private: bool Poll(float _lowPassCornerHz = 5.0);
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/// \brief Method executed in a separate thread to poll hydra for updates.
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private: void Run();
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/// \brief Update the hydra.
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/// \param[in] _info Update information.
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private: void Update(const common::UpdateInfo &_info);
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/// \brief Raw controller positions.
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private: int16_t rawPos[6];
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/// \brief Raw controller orientations.
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private: int16_t rawQuat[8];
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/// \brief Raw value of the buttons.
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private: uint8_t rawButtons[2];
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/// \brief Raw values of the analog joysticks.
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private: double rawAnalog[6];
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/// \brief Device file descriptor
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private: int hidrawFd;
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/// \brief Left and right controller positions.
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private: math::Vector3 pos[2];
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/// \brief Left and right controller orientations.
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private: math::Quaternion quat[2];
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/// \brief Left and right filtered positions.
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private: math::OnePoleVector3 filterPos[2];
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/// \brief Left and right filtered controller orientations.
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private: math::OnePoleQuaternion filterQuat[2];
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/// \brief Analog joysticks
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private: float analog[6];
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/// \brief Buttons that have been pressed.
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private: uint8_t buttons[14];
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/// \brief Estimate of the update period.
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private: math::OnePole<float> periodEstimate;
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/// \brief Time of the last poll cycle.
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private: common::Time lastCycleStart;
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// Pointer to the update event connection
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private: event::ConnectionPtr updateConnection;
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/// \brief Mutex
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private: boost::mutex mutex;
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/// \brief Additional thread
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private: boost::thread *pollThread;
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/// \brief Use to stop the additional thread that the plugin uses.
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private: bool stop;
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/// \brief Gazebo communication node pointer.
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private: transport::NodePtr node;
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/// \brief Publisher pointer used to publish the messages.
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private: transport::PublisherPtr pub;
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};
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}
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#endif
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