00001 /********************************************************************* 00002 * 00003 * Copyright (c) 2013, Willow Garage, Inc. 00004 * All rights reserved. 00005 * 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions 00008 * are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above 00013 * copyright notice, this list of conditions and the following 00014 * disclaimer in the documentation and/or other materials provided 00015 * with the distribution. 00016 * * Neither the name of the Willow Garage nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 *********************************************************************/ 00033 00034 #ifndef ARM_MOVER_H_ 00035 #define ARM_MOVER_H_ 00036 00037 #include <ros/ros.h> 00038 00039 #include <sensor_msgs/Joy.h> 00040 00041 class TerminatorEye 00042 { 00043 public: 00044 TerminatorEye( ros::NodeHandle pnh ); 00045 virtual ~TerminatorEye(); 00046 00047 void joyCb( sensor_msgs::JoyConstPtr joy_msg ); 00048 00049 ros::NodeHandle nh_; 00050 ros::Subscriber joy_sub_; 00051 00052 bool projector_on_; 00053 00054 int trigger_button_; 00055 }; 00056 00057 00058 #endif /* ARM_MOVER_H_ */