hydra.h
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00001 /*********************************************************************
00002 *
00003 * This is free and unencumbered software released into the public domain.
00004 * 
00005 * Anyone is free to copy, modify, publish, use, compile, sell, or
00006 * distribute this software, either in source code form or as a compiled
00007 * binary, for any purpose, commercial or non-commercial, and by any
00008 * means.
00009 * 
00010 * In jurisdictions that recognize copyright laws, the author or authors
00011 * of this software dedicate any and all copyright interest in the
00012 * software to the public domain. We make this dedication for the benefit
00013 * of the public at large and to the detriment of our heirs and
00014 * successors. We intend this dedication to be an overt act of
00015 * relinquishment in perpetuity of all present and future rights to this
00016 * software under copyright law.
00017 * 
00018 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
00019 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
00020 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
00021 * IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
00022 * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
00023 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
00024 * OTHER DEALINGS IN THE SOFTWARE.
00025 * 
00026 * For more information, please refer to <http://unlicense.org/>
00027 * 
00028 **********************************************************************/
00029 
00030 #ifndef HYDRA_H
00031 #define HYDRA_H
00032 
00033 #include <razer_hydra/filters.h>
00034 #include <tf/tf.h>
00035 #include <stdint.h>
00036 #include <fcntl.h>
00037 #include <unistd.h>
00038 #include <sys/types.h>
00039 #include <sys/stat.h>
00040 #include <sys/ioctl.h>
00041 #include <linux/hidraw.h>
00042 #include <libusb-1.0/libusb.h>
00043 
00044 namespace razer_hydra
00045 {
00046 
00047 class RazerHydra
00048 {
00049 public:
00050   RazerHydra();
00051   ~RazerHydra();
00052   //usb_dev_handle *hid_dev;
00053   //int hid_dev_iface;
00054   //int hid_dev_ep_in;
00055   //uint16_t raw[NUM_SENSORS];
00056   int hidraw_fd;
00057 
00058   bool init(const char *device);
00059   bool poll(uint32_t ms_to_wait, float low_pass_corner_hz = 5.0);
00060 
00061   int16_t raw_pos[6], raw_quat[8];
00062   uint8_t raw_buttons[2];
00063   int16_t raw_analog[6];
00064 
00065 
00066   tf::Vector3 pos[2];
00067   tf::Quaternion quat[2];
00068   OnePoleVector3 filter_pos[2];
00069   OnePoleQuaternion filter_quat[2];
00070   float analog[6];
00071   uint8_t buttons[14];
00072 
00073   OnePole<float> period_estimate;
00074   ros::WallTime last_cycle_start;
00075 
00076 };
00077 
00078 }
00079 
00080 #endif
00081 


razer_hydra
Author(s): Adam Leeper
autogenerated on Fri Aug 28 2015 12:21:51