/usr/include/Aria/ArRatioInputRobotJoydrive.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 | /*
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 ARRATIOINPUTROBOTJOYDRIVE_H
#define ARRATIOINPUTROBOTJOYDRIVE_H
#include "ariaTypedefs.h"
#include "ArActionRatioInput.h"
class ArRobotPacket;
class ArRobot;
class ArRobotJoyHandler;
/// Use robot's joystick to control an ArActionRatioInput action and drive the robot.
/**
This class connects the joystick data obtained from the robot's built
in joystick port (if it has one, not all robots have a joystick port)
to an ArActionRatioInput which drives the robot. (See ArRatioInputJoydrive
for a similar class that uses a joystick plugged in to the computer.)
A callback is attached to the ArActionRatioInput object which reads joystick
information using an ArRobotJoyHandler object, and sets requested drive rations on the ArActionRatioInput
object.
@sa ArRatioInputJoydrive
@sa ArActionRatioInput
@ingroup OptionalClasses
**/
class ArRatioInputRobotJoydrive
{
public:
/// Constructor
AREXPORT ArRatioInputRobotJoydrive(ArRobot *robot,
ArActionRatioInput *input,
int priority = 75,
bool requireDeadmanPushed = true);
/// Destructor
AREXPORT virtual ~ArRatioInputRobotJoydrive();
protected:
AREXPORT void fireCallback(void);
ArRobot *myRobot;
ArActionRatioInput *myInput;
bool myRequireDeadmanPushed;
bool myDeadZoneLast;
ArRobotJoyHandler *myRobotJoyHandler;
ArFunctorC<ArRatioInputRobotJoydrive> myFireCB;
};
#endif //ARRATIOINPUTROBOTJOYDRIVE_H
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