00001 #ifndef WOUSE__WOUSE_INPUT__H 00002 #define WOUSE__WOUSE_INPUT__H 00003 00004 #include <ros/ros.h> 00005 00006 namespace evdev_listener 00007 { 00008 00009 class EventInput 00010 { 00011 public: 00012 EventInput(); 00013 bool init(const char *input_device, ros::NodeHandle nh); 00014 bool run(); 00015 00016 static const int SWIFTPOINT_USB_VENDOR_ID = 0x214E; 00017 static const int SWIFTPOINT_USB_PRODUCT_ID = 1; 00018 00019 protected: 00020 void publishMovement(double delta_x, double delta_y, ros::Time time); 00021 00022 protected: 00023 int fd_; 00024 bool initialized_; 00025 ros::Publisher movement_pub_; 00026 00027 }; 00028 00029 00030 00031 }; //end namespace evdev_listener 00032 00033 00034 #endif //WOUSE__WOUSE_INPUT__H 00035