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

[Alexander Duda]

On 04/08/2014 03:35 PM, Javier Hidalgo Carrió wrote:
> 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.
You have to make it configurable to define the mapping insight the 
orogen component. The joystick itself is using a 1d- array 
(controldev/src/Joystick.hpp)

Greets Alex


>
>
> 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.
>>>>>>
>>>>>>
>>>>>> _______________________________________________
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>


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Dipl.-Ing. Alexander Duda
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