22 #ifndef _PLUGINS_JOYSTICK_JOYSTICK_TELEOP_THREAD_H_
23 #define _PLUGINS_JOYSTICK_JOYSTICK_TELEOP_THREAD_H_
25 #include <aspect/blackboard.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <core/threading/thread.h>
36 class JoystickInterface;
37 class Laser360Interface;
64 bool is_area_free(
float theta);
65 void send_transrot(
float vx,
float vy,
float omega);
72 unsigned int cfg_axis_forward_;
73 unsigned int cfg_axis_sideward_;
74 unsigned int cfg_axis_rotation_;
75 float cfg_axis_threshold_;
76 bool cfg_deadman_use_axis_;
77 unsigned int cfg_deadman_axis_;
78 float cfg_deadman_ax_thresh_;
79 unsigned int cfg_deadman_butmask_;
80 bool cfg_drive_mode_use_axis_;
81 unsigned int cfg_drive_mode_axis_;
82 float cfg_drive_mode_ax_thresh_;
83 unsigned int cfg_drive_mode_butmask_;
84 float cfg_normal_max_vx_;
85 float cfg_normal_max_vy_;
86 float cfg_normal_max_omega_;
87 float cfg_special_max_vx_;
88 float cfg_special_max_vy_;
89 float cfg_special_max_omega_;
90 bool cfg_collision_safety_;
91 float cfg_collision_safety_distance_;
92 unsigned int cfg_collision_safety_angle_;
93 std::string cfg_ifid_motor_;
94 std::string cfg_ifid_joystick_;
96 std::string cfg_ifid_laser_;
98 unsigned int cfg_runstop_enable_buttons_;
99 unsigned int cfg_runstop_disable_buttons_;
107 bool runstop_pressed_;