[Rock-dev] Joystick and twice a std vector in RawCommand

Tue Apr 8 15:35:38 CEST 2014

I have one Logitech joystick here. It has one "joystick" and one slider
but only 3 axis in total. Two for the main joystick + one for the slider.
Therefore there is not rotational axis in the joystick itself. The
current  mapping is wrong and I don't know how to make it generic with a
2D array.
The work around could be if (number of axis == 3) then..
             [0].size() == 2
             [1].size() == 1
but I think it would be easier and cleaner with 1D array.

Javier.

On 04/08/2014 03:15 PM, Matthias Goldhoorn wrote:
> I completly don't understand sorry
> Let's choose a minimal RC-Control:
>
> This have 2 major input devices (left and right stick), each stick can
> control 2 axis, this results in a array of [2][2].
>
> The Logitech freedrom joystick has one "joystick" and one slider
>
> [0].size() == 3 (3 axis for joystick itself)
> [1].size() == 1 (because it's simply a slider)
>
> this is really more straight forward instead of mixing controlling inputs..
>
> Matthias
>
> On 08.04.2014 15:10, Alexander Duda wrote:
>> On 04/08/2014 03:04 PM, Javier Hidalgo Carrió wrote:
>>>> The reason is that each axis could control several sub-axes.
>>> How many axis go to each sub-axes (sub-joystick)? How do you map then?
>>> ... The first two one, the first three ones...
>> I would say, the naming is really bad. In general, an axis is defined as
>> a 1D line.
>>>> The idea behin is that one one-dimensional arrays does not scale very
>>>> whell with different kind of input-devices.
>>>> In the past it was one 1D array. We decided to change this.
>>> Actually I think that 1D array scale better with different kind of input
>>> devices just because it is a plain 1D.
>> Yes, the mapping could also be done with a single std::vector which
>> would at least to me more natural. But the question is is, it worth to
>> change everything?
>>
>> enum Axes
>> {
>>        axis1_x
>>        axis1_y
>>        axis2_x
>>        ..
>> };
>> a[axis1_x] = 123
>>
>> Alex
>>
>>>> If you have multiple input deviced, the mapping should be done by a
>>>> conversion component. There could be no generic rule how to apply
>>>> RawCommands to something else.
>>>>
>>>> You joystick-driver should output the values from the Joysticks as they
>>>> are. The mapping for your rover's should be done in a specialized component.
>>> Therefore the especialized component should compute e.g.: 2D commands
>>> from a common RawCommand.
>>>     From my point of view the RawCommand should be generic and therefore
>>> raw (plain). Unless there is a way of asking to the Linux api: number of
>>> sub-joysticks to create this 2D array. I still don't see it.
>>>
>>> Javier.
>>>> So no i'm against a change here.
>>>>
>>>> Best,
>>>> Matthias
>>>>
>>>> On 08.04.2014 14:32, Javier Hidalgo Carrió wrote:
>>>>> Hi rocks!
>>>>>
>>>>> Is there any particular reason why the axisValue is a 2D array?
>>>>>
>>>>>        /* Index 1: num-of input axis, //index 2: dimensions of this axis
>>>>>                * If you have an gamepand which has 2 2Dknops you have an [2][2]
>>>>>                * size'd array for an 3D Mouse you could have [1][6]
>>>>>                */
>>>>>               std::vector<std::vector<double> > axisValue;
>>>>>
>>>>> Why not to create a plain  std::vector<double> instead?
>>>>>
>>>>> I am controlling with a joystick the ESA rover and there are several
>>>>> types of joysticks. They do not all have 4 axis in the main/principal
>>>>> joystick.
>>>>> Therefore, I do not see the benefit of having a std::vector inside
>>>>> another std::vector.
>>>>> My suggestion is to change it to a plain (1D array) std::vector and use
>>>>> the first 4 axis as it is now but without a 2D structure.
>>>>>
>>>>> Javier.
>>>>>
>>>>>
>>>>> _______________________________________________
>>>>> Rock-dev mailing list
>>>>> Rock-dev at dfki.de
>>>>> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
>>> _______________________________________________
>>> Rock-dev mailing list
>>> Rock-dev at dfki.de
>>> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
>

-- 
Javier Hidalgo Carrió
ESA - NPI Programme

--- Visitor at:
TEC-MMA - Automation and Robotics Section

ESTEC - European Space research and TEchnology Centre
Keplerlaan 1, PO Box 299
NL-2200 AG Noordwijk, The Netherlands
javier.hidalgo.carrio at esa.int | www.esa.int
Tel +31 71 565 3152 | Mob +31 617994512

---
Besuchsadresse der Nebengeschäftstelle:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Postadresse der Hauptgeschäftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 1
28359 Bremen, Germany

Tel.:     +49 421 178 45-6661
Zentrale: +49 421 178 45-0
Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail:   javier.hidalgo_carrio at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.:    DE 148646973
Steuernummer:  19/673/0060/3
-----------------------------------------------------------------------