SpaceNavigator.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __SPACE_NAVIGATOR_HPP__
#define __SPACE_NAVIGATOR_HPP__
 
#include <spnav.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IAnalogSensor.h>
 
namespace roboticslab
{
 
class SpaceNavigator : public yarp::dev::DeviceDriver,
                       public yarp::dev::IAnalogSensor
{
public:
 
    ~SpaceNavigator() override
    { close(); }
 
    //  --------- DeviceDriver Declarations. Implementation in DeviceDriverImpl.cpp ---------
    bool open(yarp::os::Searchable & config) override;
    bool close() override;
 
    //  --------- IAnalogSensor Declarations. Implementation in IAnalogSensorImpl.cpp ---------
    int read(yarp::sig::Vector & out) override;
 
    int getState(int ch) override;
 
    int getChannels() override;
 
    int calibrateSensor() override;
 
    int calibrateSensor(const yarp::sig::Vector & value) override;
 
    int calibrateChannel(int ch) override;
 
    int calibrateChannel(int ch, double value) override;
 
private:
 
    double dx {0.0};
    double dy {0.0};
    double dz {0.0};
 
    double droll {0.0};
    double dpitch {0.0};
    double dyaw {0.0};
 
    int button1 {0};
    int button2 {0};
 
    unsigned int noDataCounter {0};
    double deadband {0.0};
};
 
} // namespace roboticslab
 
#endif // __SPACE_NAVIGATOR_HPP__