uos_diffdrive_teleop_key.h
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00001 /*
00002  *
00003  * Copyright (C) 2015 University of Osnabrück, Germany
00004  * 
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * uos_diffdrive_teleop_key.h
00020  *
00021  *  Created on: 16.02.2015
00022  *      Author: Sebastian Pütz <spuetz@uos.de>
00023  */
00024 
00025 #ifndef UOS_DIFFDRIVE_TELEOP_KEY_H
00026 #define UOS_DIFFDRIVE_TELEOP_KEY_H
00027 
00028 #include <termios.h>
00029 #include <signal.h>
00030 #include <stdio.h>
00031 #include <stdlib.h>
00032 
00033 #include <ros/ros.h>
00034 #include <uos_diffdrive_teleop.h>
00035 #include <sensor_msgs/Joy.h>
00036 
00037 #define KEYCODE_A 0x61
00038 #define KEYCODE_D 0x64
00039 #define KEYCODE_S 0x73
00040 #define KEYCODE_W 0x77 
00041 #define KEYCODE_Q 0x71
00042 #define KEYCODE_E 0x65
00043 
00044 #define KEYCODE_A_CAP 0x41
00045 #define KEYCODE_D_CAP 0x44
00046 #define KEYCODE_S_CAP 0x53
00047 #define KEYCODE_W_CAP 0x57
00048 #define KEYCODE_Q_CAP 0x51
00049 #define KEYCODE_E_CAP 0x45
00050 
00051 #define KEYCODE_SPACE 0x20
00052 
00053 class TeleopKeyboard : public Teleop
00054 {
00055   public:
00056     TeleopKeyboard();
00057     void readKeyboard();
00058 
00059   private:
00060     char c;    
00061     double normal_x;
00062     double normal_y;
00063     double high_x;
00064     double high_y;
00065 
00066 };
00067 #endif /* uos_diffdrive_teleop_key.h */
00068 


uos_diffdrive_teleop
Author(s): Jochen Sprickerhof, Sebastian Pütz
autogenerated on Wed Aug 26 2015 16:40:15