3D_mouse.h

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#ifndef _3D_MOUSE_H_
#define _3D_MOUSE_H_

#include <ros/ros.h>

#include <X11/Xlib.h>
#include <spnav.h>
#include <boost/thread.hpp>

#include "threeD_mouse/geometry.h"


namespace threedmouse 
{
  enum MouseMode 
  {
    ROTATE,
    TRANSLATE,
    BOTH
  };

  class ThreeDMouse
  {
  public:
    ThreeDMouse();
    ~ThreeDMouse();

    void publish();
  private:
    ros::NodeHandle node, n_tilde;
    ros::Rate publish_rate;
    ros::Publisher pub;

    void update_mouse_data();

    boost::thread thread_update_mouse_data;
    boost::thread thread_publish;

    //for the 3d mouse
    spnav_event sev;
    Display *dpy;
    Window win;
    unsigned long bpix;

    //keep the last pose read from the 3d mouse
    geometry::Pose last_pose;

    MouseMode mouse_mode;

    void info_mouse_mode();
    void check_stopped();
  };
}


#endif

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threeD_mouse
Author(s): Ugo Cupcic
autogenerated on Fri Jan 11 09:34:41 2013