Perhaps a digression, but xpdf isn't a sane mouseless PDF viewer?
One of my favorite features is pressing 'q' causes it to quit, solely because I can quickly (It's blazing fast, at least on Linux) open up a pdf, pageup/pagedown through it, and quit the application quickly, efficiently and easily.
So it's not built with the most attractive toolkit, but it does seem to meet your requirements, no? (Okular is close to converting me from xpdf, but it's those extra several milliseconds during startup and the lack of a single key to quit the app that keeps me with from switching.)
You can easily configure all the key shortcuts you want.
I use 'q' for quitting, 'w' for fit to width, 'p' for fit to page, 'g' for goto-line, etc...
I love its minimal GUI interface (by default, C-m for toggling menu visibility!), highly customizable navigation panel, and its 'trim margins' view option.
I also find it faster than xpdf after startup. The only thing that i don't like right now is the slow chm rendering.
One of my favorite features is pressing 'q' causes it to quit, solely because I can quickly (It's blazing fast, at least on Linux) open up a pdf, pageup/pagedown through it, and quit the application quickly, efficiently and easily.
So it's not built with the most attractive toolkit, but it does seem to meet your requirements, no? (Okular is close to converting me from xpdf, but it's those extra several milliseconds during startup and the lack of a single key to quit the app that keeps me with from switching.)