ManControl.hpp

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 *  Created on: 26.06.2013.
 *  Author: Dula Nad
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#ifndef MANCONTROL_HPP_
#define MANCONTROL_HPP_
#include <labust/tools/MatrixLoader.hpp>

#include <sensor_msgs/Joy.h>
#include <ros/ros.h>

#include <Eigen/Dense>

namespace Eigen
{
        typedef Eigen::Matrix<double,6,1> Vector6d;
        typedef Eigen::Matrix<int,6,1> Vector6i;
}

namespace labust
{
        namespace control
        {
                struct JoystickMapping
                {
                public:
                        JoystickMapping()
                        {
                                ros::NodeHandle nh;

                                //Set default values
                                axes_map<<1,0,3,-1,-1,2;
                                scale_map<<1,-1,-1,0,0,-1;

                                //Load configurations
                                if (nh.hasParam("joystick_mapping/axes_map"))
                                {
                                        labust::tools::getMatrixParam(nh, "joystick_mapping/axes_map", axes_map);
                                }

                                if (nh.hasParam("joystick_mapping/scale_map"))
                                {
                                        labust::tools::getMatrixParam(nh, "joystick_mapping/scale_map", scale_map);
                                }
                        }

                        void remap(const sensor_msgs::Joy& joy, Eigen::Vector6d& mapped)
                        {

                                for (int i=0;i<6;++i)
                                {
                                        if (axes_map[i] != -1)
                                                mapped(i) = joy.axes[axes_map[i]]*scale_map[i];
                                        else
                                                mapped(i) = 0;
                                }
                        }

                private:
                        Eigen::Vector6i axes_map;
                        Eigen::Vector6d scale_map;
                };
        }
}

/* MANCONTROL_HPP_ */
#endif