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