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

Tue Apr 8 15:55:17 CEST 2014

On 04/08/2014 03:10 PM, 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?
I also asked myself this question. In that case it is not worthy but in 
reality it doesn't seem to be that much.

Only two things so far:
1) Change the RawCommand struct which is NOT a base type
2) The method in JoystickTask.cpp to map from RawCommand to 
MotionCommand2D (rotational and translation velocity).

Also... there is a property in the current version of the controldev 
component:
     property("axisScale","/std/vector<double>")
which is a std::vector (not a std:vector<std::vector> ). Therefore it 
will play nicer with 1D array.

I don't want to pollute the mailing-list with this topic. My suggestion: 
I could make the changes in a different branch and in case it is not the 
way of going we could always go back or find a merge point. Do you agree?

Javier.
>
> 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

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