22 #ifndef __PLUGINS_JOYSTICK_JOYSTICK_TELEOP_THREAD_H_ 23 #define __PLUGINS_JOYSTICK_JOYSTICK_TELEOP_THREAD_H_ 25 #include <core/threading/thread.h> 26 #include <aspect/blocked_timing.h> 27 #include <aspect/logging.h> 28 #include <aspect/configurable.h> 29 #include <aspect/blackboard.h> 36 class JoystickInterface;
37 class Laser360Interface;
52 virtual bool prepare_finalize_user();
53 virtual void finalize();
60 bool is_area_free(
float theta);
61 void send_transrot(
float vx,
float vy,
float omega);
68 unsigned int cfg_axis_forward_;
69 unsigned int cfg_axis_sideward_;
70 unsigned int cfg_axis_rotation_;
71 float cfg_axis_threshold_;
72 bool cfg_deadman_use_axis_;
73 unsigned int cfg_deadman_axis_;
74 float cfg_deadman_ax_thresh_;
75 unsigned int cfg_deadman_butmask_;
76 bool cfg_drive_mode_use_axis_;
77 unsigned int cfg_drive_mode_axis_;
78 float cfg_drive_mode_ax_thresh_;
79 unsigned int cfg_drive_mode_butmask_;
80 float cfg_normal_max_vx_;
81 float cfg_normal_max_vy_;
82 float cfg_normal_max_omega_;
83 float cfg_special_max_vx_;
84 float cfg_special_max_vy_;
85 float cfg_special_max_omega_;
86 bool cfg_collision_safety_;
87 float cfg_collision_safety_distance_;
88 unsigned int cfg_collision_safety_angle_;
89 std::string cfg_ifid_motor_;
90 std::string cfg_ifid_joystick_;
92 std::string cfg_ifid_laser_;
94 unsigned int cfg_runstop_enable_buttons_;
95 unsigned int cfg_runstop_disable_buttons_;
103 bool runstop_pressed_;
Laser360Interface Fawkes BlackBoard Interface.
Thread aspect to access to BlackBoard.
JoystickInterface Fawkes BlackBoard Interface.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Remotely control a robot using a joystick.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
Thread aspect to log output.
Thread aspect to access configuration data.
virtual void run()
Stub to see name in backtrace for easier debugging.
MotorInterface Fawkes BlackBoard Interface.