hydra.h

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#ifndef HYDRA_H
#define HYDRA_H

#include <razer_hydra/filters.h>
#include <tf/tf.h>
#include <stdint.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <linux/hidraw.h>
#include <libusb-1.0/libusb.h>

namespace razer_hydra
{

class RazerHydra
{
public:
  RazerHydra();
  ~RazerHydra();
  //usb_dev_handle *hid_dev;
  //int hid_dev_iface;
  //int hid_dev_ep_in;
  //uint16_t raw[NUM_SENSORS];
  int hidraw_fd;

  bool init(const char *device);
  bool poll(uint32_t ms_to_wait, float low_pass_corner_hz = 5.0);

  int16_t raw_pos[6], raw_quat[8];
  uint8_t raw_buttons[2];
  int16_t raw_analog[6];


  tf::Vector3 pos[2];
  tf::Quaternion quat[2];
  OnePoleVector3 filter_pos[2];
  OnePoleQuaternion filter_quat[2];
  float analog[6];
  uint8_t buttons[14];

  OnePole<float> period_estimate;
  ros::WallTime last_cycle_start;

};

}

#endif