MouseInput.hpp

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#ifndef ORG_EEROS_CONTROL_MOUSEINPUT_HPP_
#define ORG_EEROS_CONTROL_MOUSEINPUT_HPP_

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

using namespace eeros::math;
using namespace eeros::hal;

namespace eeros {
    namespace control {

        class MouseInput: public Block1o<Vector4> {
        public:
            MouseInput(std::string dev);
            virtual ~MouseInput();

            Output<Matrix<3,1,bool>>& getButtonOut();
            virtual void run();
            virtual void setInitPos(double x, double y, double z, double r);
            virtual void setInitPos(Vector4 pos);
            virtual void reset(double x, double y, double z, double r);

            double axisScale_x = 0.0001;
            double axisScale_y = 0.0001;
            double axisScale_z = 0.001;
            double axisScale_r = 0.2;
            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:
            Output<Matrix<3,1,bool>> buttonOut;
            double x, y, z, r;
            bool first;
            Mouse mouse;
        };
    };
};

#endif /* ORG_EEROS_CONTROL_MOUSEINPUT_HPP_ */