/usr/include/Aria/ArActionRobotJoydrive.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARACTIONROBOTJOYDRIVE_H
#define ARACTIONROBOTJOYDRIVE_H
#include "ariaTypedefs.h"
#include "ArAction.h"
class ArRobotPacket;
/// This action will use the joystick for input to drive the robot
/**
This class creates its own ArJoyHandler to get input from the
joystick. Then it will scale the speed between 0 and the given max
for velocity and turning, up and down on the joystick go
forwards/backwards while right and left go right and left. You
must press in one of the two joystick buttons for the class to pay
attention to the joystick.
NOTE: The joystick does not save calibration information, so you
must calibrate the joystick before each time you use it. To do
this, press the button for at least a half a second while the
joystick is in the middle. Then let go of the button and hold the
joystick in the upper left for at least a half second and then in
the lower right corner for at least a half second.
@ingroup ActionClasses
**/
class ArActionRobotJoydrive : public ArAction
{
public:
/// Constructor
AREXPORT ArActionRobotJoydrive(const char * name = "robotJoyDrive",
bool requireDeadmanPushed = true);
/// Destructor
AREXPORT virtual ~ArActionRobotJoydrive();
AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
AREXPORT virtual const ArActionDesired *getDesired(void) const
{ return &myDesired; }
#endif
AREXPORT virtual void setRobot(ArRobot *robot);
protected:
AREXPORT bool handleJoystickPacket(ArRobotPacket *packet);
AREXPORT void connectCallback(void);
// whether we require the deadman to be pushed to drive
bool myRequireDeadmanPushed;
bool myDeadZoneLast;
int myButton1;
int myButton2;
int myJoyX;
int myJoyY;
int myThrottle;
ArTime myPacketReceivedTime;
// action desired
ArActionDesired myDesired;
ArRetFunctor1C<bool, ArActionRobotJoydrive,
ArRobotPacket *> myHandleJoystickPacketCB;
ArFunctorC<ArActionRobotJoydrive> myConnectCB;
};
#endif //ARACTIONROBOTJOYDRIVE_H
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