.. _program_listing_file__tmp_ws_src_joystick_drivers_spacenav_include_spacenav_spacenav.hpp:

Program Listing for File spacenav.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_joystick_drivers_spacenav_include_spacenav_spacenav.hpp>` (``/tmp/ws/src/joystick_drivers/spacenav/include/spacenav/spacenav.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2008, Willow Garage, Inc.
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the Willow Garage, Inc. nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef SPACENAV__SPACENAV_HPP_
   #define SPACENAV__SPACENAV_HPP_
   
   #include <vector>
   #include <rclcpp/rclcpp.hpp>
   
   #include <geometry_msgs/msg/twist.hpp>
   #include <geometry_msgs/msg/vector3.hpp>
   #include <sensor_msgs/msg/joy.hpp>
   
   #include "spnav.h" // NOLINT
   
   namespace spacenav
   {
   
   class Spacenav final : public rclcpp::Node
   {
   public:
     explicit Spacenav(const rclcpp::NodeOptions & options);
   
     ~Spacenav();
   
   private:
     void poll_spacenav();
   
     OnSetParametersCallbackHandle::SharedPtr callback_handler;
   
     rclcpp::TimerBase::SharedPtr timer_;
   
     rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr publisher_offset;
   
     rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr publisher_rot_offset;
   
     rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_twist;
   
     rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr publisher_joy;
   
     bool spacenav_is_open = false;
   
     double full_scale;
     double linear_scale[3];
     double angular_scale[3];
   
     int static_count_threshold;
     bool zero_when_static;
     double static_trans_deadband;
     double static_rot_deadband;
   
     spnav_event sev;
     bool joy_stale = false;
     int no_motion_count = 0;
     bool motion_stale = false;
     double normed_vx = 0;
     double normed_vy = 0;
     double normed_vz = 0;
     double normed_wx = 0;
     double normed_wy = 0;
     double normed_wz = 0;
   
     // We'll resize dynamically to support spacenav devices with more buttons.
     std::vector<int> joystick_buttons = {0, 0};
   };
   
   }  // namespace spacenav
   
   #endif  // SPACENAV__SPACENAV_HPP_