XBoxInput.hpp

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#ifndef ORG_EEROS_CONTROL_XBOXINPUT_HPP_
#define ORG_EEROS_CONTROL_XBOXINPUT_HPP_

#include <string>
#include <thread>
#include <eeros/control/Output.hpp>
#include <eeros/control/Block1o.hpp>
#include <eeros/core/System.hpp>
#include <eeros/hal/Joystick.hpp>
#include <eeros/math/Matrix.hpp>

namespace eeros {
    namespace control {

        class XBoxInput: public eeros::control::Block1o<eeros::math::Vector4> {
        public:
            XBoxInput(std::string dev);
            virtual ~XBoxInput();
            
            virtual void run();
            virtual void setInitPos(eeros::math::Vector4 initPos);
            virtual void setSpeedScaleFactor(double speedScale);
            
            inline void on_button(std::function<void(int, bool)> &&action)
            {
                j.on_button(std::move(action));
            }
            
            double speedScaleFactor = 1.0;

            double xScale = 0.0001;
            double yScale = 0.0001;
            double zScale = 0.0001;
            double rScale = 0.002;
            double min_x = -0.03;
            double max_x = 0.045;
            double min_y = -0.03;
            double max_y = 0.03;
            double min_z = -0.053;
            double max_z = -0.015;
            double min_r = -2.8;
            double max_r = 2.8;

        protected:
            eeros::math::Matrix<4,4,double> axisScale;
            
            eeros::hal::Joystick j;
            std::thread* t;
        };

    };
};

#endif /* ORG_EEROS_CONTROL_XBOXINPUT_HPP_ */