pr2_teleop_general_joystick.cpp File Reference

#include <termios.h>
#include <signal.h>
#include <cstdio>
#include <cstdlib>
#include <unistd.h>
#include <math.h>
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include "pr2_teleop_general/pr2_teleop_general_commander.h"

Include dependency graph for pr2_teleop_general_joystick.cpp:

Go to the source code of this file.

Classes
class	Pr2TeleopGeneralJoystick

Enumerations
enum	JoystickLayoutMode {   LAYOUT_NONE, LAYOUT_BODY, LAYOUT_HEAD, LAYOUT_RIGHT_ARM,   LAYOUT_LEFT_ARM, LAYOUT_BOTH_ARMS }

Functions
int	main (int argc, char **argv)
void	spin_function ()

Variables
static const unsigned int	ARM_MODE_TOGGLE_BUTTON = 4
static const unsigned int	ARM_POSE_BUTTON = 6
static const unsigned int	ARM_TUCK_BUTTON = 5
static const unsigned int	ARM_UNTUCK_BUTTON = 7
static const unsigned int	ARM_X_AXIS = 3
static const unsigned int	ARM_Y_AXIS = 2
static const unsigned int	ARM_YAW_AXIS = 0
static const unsigned int	ARM_Z_AXIS = 1
static const unsigned int	BODY_LAYOUT_BUTTON = 10
static const unsigned int	CLOSE_GRIPPER_BUTTON = 13
static const ros::Duration	DOUBLE_TAP_TIMEOUT (.25)
static const double	FastHz = 100
static const unsigned int	HEAD_LAYOUT_BUTTON = 11
static const unsigned int	HEAD_MODE_TOGGLE_BUTTON = 4
static const unsigned int	HEAD_PAN_AXIS = 0
static const unsigned int	HEAD_TILT_AXIS = 3
static const unsigned int	LASER_TOGGLE_BUTTON = 7
static const unsigned int	LEFT_ARM_LAYOUT_BUTTON = 8
static const unsigned int	LEFT_AXIS_NUMBER = 1
static const unsigned int	MOVE_TO_WALK_ALONG_BUTTON = 0
static const unsigned int	OPEN_GRIPPER_BUTTON = 15
static const unsigned int	PROJECTOR_TOGGLE_BUTTON = 5
static const unsigned int	PROSILICA_POLL_BUTTON = 6
static const unsigned int	RIGHT_ARM_LAYOUT_BUTTON = 9
static const unsigned int	RIGHT_AXIS_NUMBER = 1
static const unsigned int	SET_WALK_ALONG_BUTTON = 3
static const double	SlowHz = 20
static const unsigned int	SPEED_UP_BUTTON = 11
static const unsigned int	TORSO_DOWN_BUTTON = 14
static const unsigned int	TORSO_UP_BUTTON = 12
static const unsigned int	VW_AXIS = 0
static const unsigned int	VX_AXIS = 3
static const unsigned int	VY_AXIS = 2
static const unsigned int	WRIST_CLOCKWISE_BUTTON = 12
static const unsigned int	WRIST_COUNTER_BUTTON = 14

Enumeration Type Documentation

enum JoystickLayoutMode

Enumerator
LAYOUT_NONE
LAYOUT_BODY
LAYOUT_HEAD
LAYOUT_RIGHT_ARM
LAYOUT_LEFT_ARM
LAYOUT_BOTH_ARMS

Definition at line 45 of file pr2_teleop_general_joystick.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 881 of file pr2_teleop_general_joystick.cpp.

void spin_function

(

)

Definition at line 869 of file pr2_teleop_general_joystick.cpp.

Variable Documentation

const unsigned int ARM_MODE_TOGGLE_BUTTON = 4

static

Definition at line 65 of file pr2_teleop_general_joystick.cpp.

const unsigned int ARM_POSE_BUTTON = 6

static

Definition at line 66 of file pr2_teleop_general_joystick.cpp.

const unsigned int ARM_TUCK_BUTTON = 5

static

Definition at line 91 of file pr2_teleop_general_joystick.cpp.

const unsigned int ARM_UNTUCK_BUTTON = 7

static

Definition at line 90 of file pr2_teleop_general_joystick.cpp.

const unsigned int ARM_X_AXIS = 3

static

Definition at line 85 of file pr2_teleop_general_joystick.cpp.

const unsigned int ARM_Y_AXIS = 2

static

Definition at line 86 of file pr2_teleop_general_joystick.cpp.

const unsigned int ARM_YAW_AXIS = 0

static

Definition at line 88 of file pr2_teleop_general_joystick.cpp.

const unsigned int ARM_Z_AXIS = 1

static

Definition at line 87 of file pr2_teleop_general_joystick.cpp.

const unsigned int BODY_LAYOUT_BUTTON = 10

static

Definition at line 54 of file pr2_teleop_general_joystick.cpp.

const unsigned int CLOSE_GRIPPER_BUTTON = 13

static

Definition at line 64 of file pr2_teleop_general_joystick.cpp.

const ros::Duration DOUBLE_TAP_TIMEOUT(.25)

static

const double FastHz = 100

static

Definition at line 866 of file pr2_teleop_general_joystick.cpp.

const unsigned int HEAD_LAYOUT_BUTTON = 11

static

Definition at line 57 of file pr2_teleop_general_joystick.cpp.

const unsigned int HEAD_MODE_TOGGLE_BUTTON = 4

static

Definition at line 59 of file pr2_teleop_general_joystick.cpp.

const unsigned int HEAD_PAN_AXIS = 0

static

Definition at line 82 of file pr2_teleop_general_joystick.cpp.

const unsigned int HEAD_TILT_AXIS = 3

static

Definition at line 83 of file pr2_teleop_general_joystick.cpp.

const unsigned int LASER_TOGGLE_BUTTON = 7

static

Definition at line 61 of file pr2_teleop_general_joystick.cpp.

const unsigned int LEFT_ARM_LAYOUT_BUTTON = 8

static

Definition at line 56 of file pr2_teleop_general_joystick.cpp.

const unsigned int LEFT_AXIS_NUMBER = 1

static

Definition at line 68 of file pr2_teleop_general_joystick.cpp.

const unsigned int MOVE_TO_WALK_ALONG_BUTTON = 0

static

Definition at line 93 of file pr2_teleop_general_joystick.cpp.

const unsigned int OPEN_GRIPPER_BUTTON = 15

static

Definition at line 63 of file pr2_teleop_general_joystick.cpp.

const unsigned int PROJECTOR_TOGGLE_BUTTON = 5

static

Definition at line 60 of file pr2_teleop_general_joystick.cpp.

const unsigned int PROSILICA_POLL_BUTTON = 6

static

Definition at line 62 of file pr2_teleop_general_joystick.cpp.

const unsigned int RIGHT_ARM_LAYOUT_BUTTON = 9

static

Definition at line 55 of file pr2_teleop_general_joystick.cpp.

const unsigned int RIGHT_AXIS_NUMBER = 1

static

Definition at line 69 of file pr2_teleop_general_joystick.cpp.

const unsigned int SET_WALK_ALONG_BUTTON = 3

static

Definition at line 94 of file pr2_teleop_general_joystick.cpp.

const double SlowHz = 20

static

Definition at line 867 of file pr2_teleop_general_joystick.cpp.

const unsigned int SPEED_UP_BUTTON = 11

static

Definition at line 73 of file pr2_teleop_general_joystick.cpp.

const unsigned int TORSO_DOWN_BUTTON = 14

static

Definition at line 72 of file pr2_teleop_general_joystick.cpp.

const unsigned int TORSO_UP_BUTTON = 12

static

Definition at line 71 of file pr2_teleop_general_joystick.cpp.

const unsigned int VW_AXIS = 0

static

Definition at line 80 of file pr2_teleop_general_joystick.cpp.

const unsigned int VX_AXIS = 3

static

Definition at line 78 of file pr2_teleop_general_joystick.cpp.

const unsigned int VY_AXIS = 2

static

Definition at line 79 of file pr2_teleop_general_joystick.cpp.

const unsigned int WRIST_CLOCKWISE_BUTTON = 12

static

Definition at line 75 of file pr2_teleop_general_joystick.cpp.

const unsigned int WRIST_COUNTER_BUTTON = 14

static

Definition at line 76 of file pr2_teleop_general_joystick.cpp.