void AbstractLeapGestureManager::update(){
cout << "update\n";
pastFrame = frame;
frame = controller.frame();
HandList hands = frame.hands();
pastLeft = left;
pastRight = right;
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl){
Hand hand = *hl;
if (hand.isLeft()){
left = hand;
}
else{
right = hand;
}
}
}
void MyListener::onFrame(const Controller& controller)
{
const Frame frame = controller.frame();
const GestureList gestures = frame.gestures();
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
const Hand hand = *hl;
// Smoothing and stabilization is performed in order to make this
// value more suitable for interaction with 2D content. The stabilized
// position lags behind the palm position by a variable amount,
// depending primarily on the speed of movement.
Vector position = hand.stabilizedPalmPosition();
if (m_positionChanged)
m_positionChanged(position[0], position[1], position[2],
frame.fingers().extended().count(),
hand.direction(),
hand.palmVelocity());
if (m_pinch)
m_pinch(hand.pinchStrength());
if (m_grab)
m_grab(hand.grabStrength());
}
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
switch (gesture.type()) {
case Gesture::TYPE_KEY_TAP:
case Gesture::TYPE_SCREEN_TAP:
if (m_tapped)
m_tapped();
break;
case Gesture::TYPE_SWIPE:
break;
}
}
}
void SampleListener::onFrame(const Controller& controller) {
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
//std::cout << std::string(2, ' ') << handType << ", id: " << hand.id()
// << ", palm position: " << hand.palmPosition() << std::endl;
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Get fingers
const FingerList fingers = hand.fingers();
const Finger finger = *(++fingers.begin()); // get Index finger
std::cout << std::string(4, ' ') << fingerNames[finger.type()]
<< " finger, id: " << finger.id()
<< ", length: " << finger.length()
<< "mm, width: " << finger.width() << std::endl;
Bone::Type boneType = static_cast<Bone::Type>(3); // Get distal bone for character recognization
Bone bone = finger.bone(boneType);
//output_file << finger.id()
//<< ", " << bone.nextJoint().x << ", " << bone.nextJoint().y << ", " << bone.nextJoint().z << std::endl;
// 2D-3D transformation
if (finger.id() != finger_id) {
finger_id = finger.id(); // reset the data
array_counter = 0;
}
else array_counter++;
finger_array_x[array_counter] = bone.nextJoint().x;
finger_array_y[array_counter] = bone.nextJoint().y;
finger_array_z[array_counter] = bone.nextJoint().z;
}
}
void LeapHands::onFrame(const Controller& controller)
{
//Game::Instance()->PrintFloat("Hand children: ", childrenMap.size());
std::map<string, BoneData> tempBoneData;
HandList hands = controller.frame().hands();
int handId = 0;
hands[0].fingers()[(int) Finger::Type::TYPE_THUMB];
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
// Get fingers
const FingerList fingers = hand.fingers();
int fingerId = 0;
bool firstFinger = true;
Finger previousFinger;
stringstream ass;
ass << "Arm: 0 Hand: " << handId;
tempBoneData[ass.str()] = BoneData(ass.str(), LeapToGlVec3(hand.arm().wristPosition()), LeapToGlVec3(hand.arm().elbowPosition()), true);
ass.clear();
glm::vec3 thumbBone = LeapToGlVec3(hand.fingers()[Finger::Type::TYPE_THUMB].bone(Bone::Type::TYPE_DISTAL).nextJoint());
glm::vec3 indexBone = LeapToGlVec3(hand.fingers()[Finger::Type::TYPE_INDEX].bone(Bone::Type::TYPE_DISTAL).nextJoint());
pinchDist = glm::length(thumbBone - indexBone);
if (pinchDist < 5.0f)
{
pinch = true;
}
else
{
pinch = false;
}
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
stringstream ss;
ss << "Hand: " << handId << " Finger: " << fingerId << " Bone: " << b;
tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(bone.prevJoint()), LeapToGlVec3(bone.nextJoint()), true);
}
// Draw some other bits of the hand
if (!firstFinger)
{
for (int b = 0; b < 2; ++b)
{
stringstream ss;
ss << "Hand: " << handId << "Finger: " << (fingerId - 1) << "Finger: " << (fingerId) << " Bone: " << b;
Bone startBone = previousFinger.bone(static_cast<Bone::Type>(b));
Bone endBone = finger.bone(static_cast<Bone::Type>(b));
if ((b == 1) && (fingerId == 1))
{
tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(startBone.nextJoint()), LeapToGlVec3(endBone.prevJoint()), false);
}
else
{
tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(startBone.prevJoint()), LeapToGlVec3(endBone.prevJoint()), false);
}
}
}
const GestureList gestures = controller.frame().gestures();
for (int g = 0; g < gestures.count(); ++g)
{
Gesture gesture = gestures[g];
switch (gesture.type())
{
case Gesture::TYPE_CIRCLE:
{
CircleGesture circle = gesture;
if (gesture.durationSeconds() > 1)
{
if (circle.pointable().direction().angleTo(circle.normal()) <= PI / 2) {
spawn = vehicle;
}
else {
spawn = model;
}
}
}
}
}
previousFinger = finger;
firstFinger = false;
++fingerId;
}
++handId;
}
EnterCriticalSection(&criticalSection);
trackedHands = handId;
map<string, BoneData>::iterator it = tempBoneData.begin();
boneData = tempBoneData;
LeaveCriticalSection(&criticalSection);
}
void LeapListener::onFrame(const Controller & controller) {
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
std::cout << "Frame id: " << frame.id()
<< ", timestamp: " << frame.timestamp()
<< ", hands: " << frame.hands().count()
<< ", extended fingers: " << frame.fingers().extended().count()
<< ", tools: " << frame.tools().count()
<< ", gestures: " << frame.gestures().count() << std::endl;
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
std::cout << std::string(2, ' ') << handType << ", id: " << hand.id()
<< ", palm position: " << hand.palmPosition() << std::endl;
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
<< "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
<< "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
Arm arm = hand.arm();
std::cout << std::string(2, ' ') << "Arm direction: " << arm.direction()
<< " wrist position: " << arm.wristPosition()
<< " elbow position: " << arm.elbowPosition() << std::endl;
// Get fingers
const FingerList fingers = hand.fingers();
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
std::cout << std::string(4, ' ') << fingerNames[finger.type()]
<< " finger, id: " << finger.id()
<< ", length: " << finger.length()
<< "mm, width: " << finger.width() << std::endl;
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
std::cout << std::string(6, ' ') << boneNames[boneType]
<< " bone, start: " << bone.prevJoint()
<< ", end: " << bone.nextJoint()
<< ", direction: " << bone.direction() << std::endl;
}
}
}
// Get tools
const ToolList tools = frame.tools();
for (ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
const Tool tool = *tl;
std::cout << std::string(2, ' ') << "Tool, id: " << tool.id()
<< ", position: " << tool.tipPosition()
<< ", direction: " << tool.direction() << std::endl;
}
// Get gestures
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE: {
CircleGesture circle = gesture;
std::string clockwiseness;
if (circle.pointable().direction().angleTo(circle.normal()) <= PI/2) {
clockwiseness = "clockwise";
} else {
clockwiseness = "counterclockwise";
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Gesture::STATE_START) {
CircleGesture previousUpdate = CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * PI;
}
std::cout << std::string(2, ' ')
<< "Circle id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", progress: " << circle.progress()
<< ", radius: " << circle.radius()
<< ", angle " << sweptAngle * RAD_TO_DEG
<< ", " << clockwiseness << std::endl;
break;
}
case Gesture::TYPE_SWIPE: {
SwipeGesture swipe = gesture;
std::cout << std::string(2, ' ')
<< "Swipe id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", direction: " << swipe.direction()
<< ", speed: " << swipe.speed() << std::endl;
break;
}
case Gesture::TYPE_KEY_TAP: {
KeyTapGesture tap = gesture;
std::cout << std::string(2, ' ')
<< "Key Tap id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", position: " << tap.position()
<< ", direction: " << tap.direction()<< std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP: {
ScreenTapGesture screentap = gesture;
std::cout << std::string(2, ' ')
<< "Screen Tap id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", position: " << screentap.position()
<< ", direction: " << screentap.direction() << std::endl;
break;
}
default:
std::cout << std::string(2, ' ') << "Unknown gesture type." << std::endl;
break;
}
}
if (!frame.hands().isEmpty() || !gestures.isEmpty())
std::cout << std::endl;
}
void SampleListener::onFrame(const Controller& controller)
{
bool thand, index = false;
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
// Receive Hand List
HandList hands = frame.hands();
// For all hands
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl)
{
// Get the first hand
const Hand hand = *hl;
// Only for right hand
if( hand.isRight() )
{
// Get fingers
const FingerList fingers = hand.fingers();
// For all fingers in the list
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl)
{
Bone bone;
const Finger finger = *fl;
// If thamb or Index finger
if( finger.type() == Finger::TYPE_THUMB )
{
// Receive nided bone
bone = finger.bone(Bone::TYPE_DISTAL);
m_vThand = bone.center();
thand = true;
}
else if( finger.type() == Finger::TYPE_INDEX )
{
// Receive nided bone
bone = finger.bone(Bone::TYPE_DISTAL);
m_vIndex = bone.center();
index = true;
}
}
}
}
bool newState;
if( !thand || !index )
{
newState = false;
}
else
{
float distance = m_vThand.distanceTo(m_vIndex);
qDebug () << "Distance: " << distance;
if( distance < 40 )
{
newState = true;
}
else
{
newState = false;
}
}
if( newState != m_bLastState )
{
Q_EMIT releySignal( newState );
m_bLastState = newState;
}
}
void SampleListener::onFrame(const Controller& controller) {
//tictoc_stack.push(clock());
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Get the Arm bone
Arm arm = hand.arm();
// Get fingers
const FingerList fingers = hand.fingers();
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
myfile << std::string(4, ' ') << fingerNames[finger.type()]
<< ": " << hand.palmPosition().distanceTo(finger.tipPosition());
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
}
}
}
// Get tools
const ToolList tools = frame.tools();
for (ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
const Tool tool = *tl;
}
// Get gestures
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE:
{
CircleGesture circle = gesture;
std::string clockwiseness;
if (circle.pointable().direction().angleTo(circle.normal()) <= PI / 2) {
clockwiseness = "clockwise";
}
else {
clockwiseness = "counterclockwise";
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Gesture::STATE_START) {
CircleGesture previousUpdate = CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * PI;
}
break;
}
case Gesture::TYPE_SWIPE:
{
SwipeGesture swipe = gesture;
break;
}
case Gesture::TYPE_KEY_TAP:
{
KeyTapGesture tap = gesture;
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
ScreenTapGesture screentap = gesture;
break;
}
default:
break;
}
}
if (!frame.hands().isEmpty() || !gestures.isEmpty()) {
std::cout << std::endl;
}
myfile << " Time elapsed: "
<< ((double)(clock() - tictoc_stack.top())) / CLOCKS_PER_SEC;
tictoc_stack.pop();
myfile << endl;
}
int main(int argc, char** argv)
{
struct sockaddr_in si_other;
int s, slen = sizeof(si_other);
char buf[BUFLEN];
char message[BUFLEN];
WSADATA wsa;
//Initialise winsock
printf("\nInitialising Winsock...");
if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0)
{
printf("Failed. Error Code : %d", WSAGetLastError());
exit(EXIT_FAILURE);
}
printf("Initialised.\n");
//create socket
//if ((s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == SOCKET_ERROR)
if ((s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == INVALID_SOCKET)
{
printf("socket() failed with error code : %d", WSAGetLastError());
exit(EXIT_FAILURE);
}
char str[INET_ADDRSTRLEN];
//setup address structure
memset((char *)&si_other, 0, sizeof(si_other));
si_other.sin_family = AF_INET;
si_other.sin_port = htons(PORT);
//si_other.sin_addr.S_un.S_addr = inet_pton(AF_INET, SERVER, &(si_other.sin_addr));
inet_pton(AF_INET, SERVER, &(si_other.sin_addr.S_un.S_addr));
/*if (inet_pton(AF_INET, SERVER, &(si_other.sin_addr.S_un.S_addr)))
{
inet_ntop(AF_INET, &(si_other.sin_addr.S_un.S_addr), str, INET_ADDRSTRLEN);
std::cout << ("%s\n", str);
}*/
// We catch any exceptions that might occur below -- see the catch statement for more details.
try {
// First, we create a Hub with our application identifier. Be sure not to use the com.example namespace when
// publishing your application. The Hub provides access to one or more Myos.
myo::Hub hub("om.example.emg-data-sample");
std::cout << "Attempting to find a Myo..." << std::endl;
// Next, we attempt to find a Myo to use. If a Myo is already paired in Myo Connect, this will return that Myo
// immediately.
// waitForMyo() takes a timeout value in milliseconds. In this case we will try to find a Myo for 10 seconds, and
// if that fails, the function will return a null pointer.
myo::Myo* myo = hub.waitForMyo(10000);
// If waitForMyo() returned a null pointer, we failed to find a Myo, so exit with an error message.
if (!myo) {
throw std::runtime_error("Unable to find a Myo!");
}
// We've found a Myo.
std::cout << "Connected to a Myo armband!" << std::endl << std::endl;
// Next we enable EMG streaming on the found Myo.
myo->setStreamEmg(myo::Myo::streamEmgEnabled);
// Create a sample listener and controller for Leap Motion
SampleListener listener;
Controller controller;
// Next we construct an instance of our DeviceListener, so that we can register it with the Hub.
DataCollector collector;
double timeElasped = 0.000;
const double minMax[10] = { 32, 85, 36, 100, 37, 107, 36, 100, 36, 90 }; //T.I.M.R.P
// Hub::addListener() takes the address of any object whose class inherits from DeviceListener, and will cause
// Hub::run() to send events to all registered device listeners.
hub.addListener(&collector);
//controller.addListener(listener);
if (argc > 1 && strcmp(argv[1], "--bg") == 0)
controller.setPolicy(Leap::Controller::POLICY_BACKGROUND_FRAMES);
myfile << std::fixed;
myfile << std::setprecision(2);
// Finally we enter our main loop.
while (1) {
//collector.tic();
// In each iteration of our main loop, we run the Myo event loop for a set number of milliseconds.
// In this case, we wish to update our display 50 times a second, so we run for 1000/20 milliseconds.
hub.run(1000 / 100);
// After processing events, we call the print() member function we defined above to print out the values we've
// obtained from any events that have occurred.
collector.print();
int i = 0;
int j = 1;
int h = 0;
double fingDis[5];
const Frame frame = controller.frame();
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
// Get fingers
const FingerList fingers = hand.fingers();
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
//myfile << " " << hand.palmPosition().distanceTo(finger.tipPosition());
/*myfile << std::string(4, ' ') << fingerNames[finger.type()]
<< ": " << listener.mapping(hand.palmPosition().distanceTo(finger.tipPosition()), minMax[i + i], minMax[i + j]);*/
fingDis[h] = listener.mapping(hand.palmPosition().distanceTo(finger.tipPosition()), minMax[i + i], minMax[i + j]);
//fingDis[h] = hand.palmPosition().distanceTo(finger.tipPosition());
i++;
j++;
h++;
if (i == 5 && j == 6 && h == 5)
{
string tmp = to_string(fingDis[0]) + " " + to_string(fingDis[1]) + " " + to_string(fingDis[2]) + " " + to_string(fingDis[3]) + " " + to_string(fingDis[4]);
//string tmp = to_string('0');
strcpy_s(message, tmp.c_str());
//send message
if (sendto(s, message, strlen(message), 0, (struct sockaddr *) &si_other, slen) == SOCKET_ERROR)
{
printf("sendto() failed with error code : %d", WSAGetLastError());
//exit(EXIT_FAILURE);
}
std::cout << "Data Sent";
i = 0;
j = 1;
h = 0;
}
}
}
//timeElasped = timeElasped + ((double)(clock() - tictoc_stack.top())) / CLOCKS_PER_SEC;
/*myfile << " Time elapsed: "
<< ((double)(clock() - tictoc_stack.top())) / CLOCKS_PER_SEC;*/
//tictoc_stack.pop();
//myfile << " " << timeElasped << endl;
}
// If a standard exception occurred, we print out its message and exit.
}
catch (const std::exception& e) {
std::cerr << "Error: " << e.what() << std::endl;
std::cerr << "Press enter to continue.";
std::cin.ignore();
return 1;
}
closesocket(s);
WSACleanup();
}
/* ----------------------------------------------------------------------------------------- */
void CListener::onFrame(const Controller& controller) {
usleep(timeout); // timeout to move the arm close to real time
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
if(frame.hands().count() == 0) // do nothing if no hand is involved
return;
if(frame.hands().count() > 1) { // do nothing if more than one hand is involved
//std::cout << "More than one hand detected, returning to center position" << std::endl;
//rarm.set_to_mid();
return;
}
// ------------------------ MAIN LOGIC
// ------------------------
// GRIPPER
new_pos[GRIPPER] = Robot_arm::ranges[GRIPPER][MAX] - frame.fingers().extended().count() * Robot_arm::gripper_offset; // move GRIPPER in safe ranges
//std::cout << "new_pos[GRIPPER]: " << new_pos[GRIPPER] << std::endl;
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
Arm arm = hand.arm();
const Vector direction = hand.direction();
const Vector normal = hand.palmNormal();
// ------------------------------
// ELBOW
new_pos[ELBOW] = Robot_arm::ranges[ELBOW][MAX] - int(Robot_arm::elbow_offset * hand.palmPosition()[Y]);
//std::cout << "new_pos[ELBOW]: " << new_pos[ELBOW] << std::endl;
// ------------------------------
// BASE
if(arm.direction()[X] < 0)
new_pos[BASE] = Robot_arm::ranges[BASE][CENTER] - int(Robot_arm::base_offset * fabs(arm.direction()[X]));
else
new_pos[BASE] = Robot_arm::ranges[BASE][CENTER] + int(Robot_arm::base_offset * fabs(arm.direction()[X]));
//std::cout << "new_pos[BASE]: " << new_pos[BASE] << std::endl;
// ------------------------------
// WRIST ROTATE
if(direction.pitch() * RAD_TO_DEG < 0)
new_pos[WRIST_ROTATE] = Robot_arm::ranges[WRIST_ROTATE][CENTER] - int(Robot_arm::wrist_rotate_offset * fabs(direction.pitch() * RAD_TO_DEG));
else
new_pos[WRIST_ROTATE] = Robot_arm::ranges[WRIST_ROTATE][CENTER] + int(Robot_arm::wrist_rotate_offset * fabs(direction.pitch() * RAD_TO_DEG));
//std::cout << "new_pos[WRIST_ROTATE]: " << new_pos[WRIST_ROTATE] << std::endl;
// ------------------------------
// WRIST
if(normal.roll() * RAD_TO_DEG < 0)
new_pos[WRIST] = Robot_arm::ranges[WRIST][CENTER] + int(Robot_arm::wrist_offset * fabs(normal.roll() * RAD_TO_DEG));
else
new_pos[WRIST] = Robot_arm::ranges[WRIST][CENTER] - int(Robot_arm::wrist_offset * fabs(normal.roll() * RAD_TO_DEG));
//std::cout << "new_pos[WRIST]: " << new_pos[WRIST] << std::endl;
// ------------------------------
// SHOULDER
new_pos[SHOULDER] = Robot_arm::ranges[SHOULDER][MIN] + int(Robot_arm::shoulder_offset * arm.elbowPosition()[Z]);
//std::cout << "new_pos[SHOULDER]: " << new_pos[SHOULDER] << std::endl;
}
// filtration
if(filter != 0) {
int * tmp_pos = rarm.get_pos();
for(int i = 0; i < Robot_arm::num_servos; i++) {
if(fabs((tmp_pos[i] - new_pos[i]) / (double)filter_const) > filter) { // move only if greater than filter
rarm.move(new_pos);
break;
}
}
return;
}
rarm.move(new_pos);
}
void LeapHander::frame(pugi::xml_node &frameNode){
Leap::Frame currentFrame = m_sampleListener.frame();
m_lock.lock();
frameNode.append_attribute("id").set_value(currentFrame.id());
pugi::xml_node handList = frameNode.append_child("hands");
HandList hands = currentFrame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
pugi::xml_node handNode = handList.append_child("hand");
handNode.append_attribute("id").set_value(hand.id());
std::string handType;
if (hand.isLeft()) {
handType = "Left";
}
else {
handType = "Right";
}
handNode.append_attribute("type").set_value(handType.c_str());
pugi::xml_node positionNode = handNode.append_child("position");
positionToXml(positionNode, hand.palmPosition());
/*pugi::xml_node normalNode = handNode.append_child("normal");
positionToXml(normalNode, hand.palmNormal());
pugi::xml_node directionNode = handNode.append_child("direction");
positionToXml(directionNode, hand.direction());
pugi::xml_node rotationNode = handNode.append_child("basis");
rotationToXml(rotationNode, hand.basis());*/
//// Get fingers
pugi::xml_node fingerList = handNode.append_child("fingers");
const FingerList fingers = hand.fingers();
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
pugi::xml_node fingerNode = fingerList.append_child("finger");
fingerNode.append_attribute("id").set_value(finger.id());
fingerNode.append_attribute("name").set_value(fingerNames[finger.type()].c_str());
pugi::xml_node boneList = fingerNode.append_child("bones");
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
pugi::xml_node boneNode = boneList.append_child("bone");
boneNode.append_attribute("length").set_value(bone.length());
boneNode.append_attribute("name").set_value(boneNames[boneType].c_str());
pugi::xml_node prevJoint = boneNode.append_child("prevJoint");
positionToXml(prevJoint, bone.prevJoint());
pugi::xml_node nextJoint = boneNode.append_child("nextJoint");
positionToXml(nextJoint, bone.nextJoint());
/*pugi::xml_node rotation = boneNode.append_child("basis");
rotationToXml(rotation, bone.basis());*/
}
}
}
m_lock.unlock();
}
void MangoListener::onFrame(const Controller& controller) {
const Frame frame = controller.frame();
HandList hands = frame.hands();
int extendedFingers = 0;
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
const Hand hand = *hl;
for (int i = 0; i < hand.fingers().count(); i++)
{
Finger finger = hand.fingers()[i];
if(finger.isExtended()) extendedFingers++;
}
if (!onGesture && !frame.hands().isEmpty() && frame.hands().count() == 1 && extendedFingers == 0)
{
preGestureCounter++;
std::cout << preGestureCounter << std::endl;
if (preGestureCounter > MAX_PREGESTURE && frameCount == 0)
{
onGesture = true;
preGestureCounter = 0;
frameCount++;
note.show();
}
}
else if (preGestureCounter > 0)
{
preGestureCounter--;
}
}
if (onGesture && frameCount < MAX_FRAMECOUNT) {
switch (extendedFingers)
{
case 1:
{
std::string command = commands.getCommand("FING3");
std::cout << command << std::endl;
break;
}
case 2:
{
break;
}
case 3:
{
break;
}
default:
{
break;
}
}
frameCount++;
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g]; //need to move finger detection in here too
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE:
{
CircleGesture circle = gesture;
std::string clockwiseness; //probably simplfy to a bool
if (circle.pointable().direction().angleTo(circle.normal()) <= PI/4)
{
clockwiseness = "clockwise";
std::cout << "CIRCLE CLOCKWISE" << std::endl;
}
else
{
clockwiseness = "counterclockwise";
std::cout << "CIRCLE COUNTERCLOCKWISE" << std::endl;
}
break;
}
case Gesture::TYPE_SWIPE:
{
SwipeGesture swipe = gesture;
std::cout << "SWIPE" << std::endl;
break;
}
case Gesture::TYPE_KEY_TAP:
{
KeyTapGesture tap = gesture;
std::cout << "KEY TAP" << std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
ScreenTapGesture screentap = gesture;
std::cout << "SCREEN TAP" << std::endl;
break;
}
default:
{
std::cout << std::string(2, ' ') << "Unknown gesture type." << std::endl;
break;
}
}
float seconds = gesture.durationSeconds();
std::cout << seconds << std::endl;
}
}
else if (onGesture == true && frameCount > MAX_FRAMECOUNT)
{
note.hide();
onGesture = false;
frameCount = 0;
}
else if (onGesture)
{
frameCount++;
}
}
void LeapBrowser::drawHands()
{
Frame frame = leap_controller.frame();
math::vector trans = leap_transform.translation;
math::quater rot_quat = leap_transform.rotation;
math::vector rot_vect = math::ln( rot_quat );
double angle = rot_vect.length() * 2.0;
math::vector axis = ( angle != 0 ? rot_vect / angle : rot_vect );
glMatrixMode( GL_MODELVIEW );
glPushMatrix();
glTranslatef( trans.x(), trans.y(), trans.z() );
if( angle != 0 )
{
glRotatef( angle * 180.0 / M_PI, axis.x(), axis.y(), axis.z() );
}
HandList hands = frame.hands();
for( HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl )
{
const Hand hand = *hl;
float joint_radius = 5.0f;
float bone_radius = 4.5f;
Vector prev_palm_start(0,0,0);
Vector prev_palm_end(0,0,0);
int f = 0;
const FingerList fingers = hand.fingers();
for( FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl, ++f )
{
const Finger finger = *fl;
Vector curr_palm_start(0,0,0);
Vector curr_palm_end(0,0,0);
for( int b=0; b < 4; b++ )
{
Bone::Type bone_type = static_cast<Bone::Type>( b );
Bone bone = finger.bone( bone_type );
Vector start = bone.prevJoint();
Vector end = bone.nextJoint();
math::position p0( start.x, start.y, start.z );
math::position p1( end.x, end.y, end.z );
if( is_tracking_pose == true && finger.type() == Finger::Type::TYPE_INDEX && b==3 )
{
drawing_tool.setColor( 1, 0, 0, 1 );
}
else
{
drawing_tool.setColor( 0.5, 0.7, 0.5, 1 );
}
drawing_tool.drawSphere( p1, joint_radius );
drawing_tool.setColor( 0.5, 0.7, 0.5, 1 );
drawing_tool.drawSphere( p0, joint_radius );
drawing_tool.drawCylinder( p0, p1, bone_radius );
//
if( b == 0 && fl != fingers.begin() || b == 1 && fl == fingers.begin() )
{
curr_palm_start = start;
curr_palm_end = end;
}
}
if( f > 1 ) //fl != fingers.begin() )
{
drawing_tool.setColor( 0.5, 0.7, 0.5, 1 );
drawing_tool.applyColor();
glBegin( GL_QUADS );
glVertex3f( prev_palm_start.x, prev_palm_start.y, prev_palm_start.z );
glVertex3f( prev_palm_end.x, prev_palm_end.y, prev_palm_end.z );
glVertex3f( curr_palm_end.x, curr_palm_end.y, curr_palm_end.z );
glVertex3f( curr_palm_start.x, curr_palm_start.y, curr_palm_start.z );
glEnd();
}
prev_palm_start = curr_palm_start;
prev_palm_end = curr_palm_end;
}
}
glPopMatrix();
}
void QTVS_Leap::HandLogic()
{
//TODO: Fix this
if (hands.count() == 1)
{
int iHandToFingerShift = hand.isLeft() ? 5 : 0;
for (int iFingerCounter = iHandToFingerShift;
iFingerCounter <= iHandToFingerShift + 4;
iFingerCounter ++)
QCoreApplication::postEvent(fingerTraces.at(iFingerCounter), new QHideEvent());
iHandToFingerShift = hand.isLeft() ? 0 : 5;
if(ui.checkBox_ShowFingers->isChecked())
{
for (int iFingerCounter = iHandToFingerShift;
iFingerCounter <= iHandToFingerShift + 4;
iFingerCounter ++)
QCoreApplication::postEvent(fingerTraces.at(iFingerCounter), new QShowEvent());
}
}
else if (hands.isEmpty())
{
foreach (FingerTraceWindow * fTrace, fingerTraces)
QCoreApplication::postEvent(fTrace, new QHideEvent());
// QCoreApplication::postEvent(thumbTrace, new QHideEvent());
// QCoreApplication::postEvent(indexTrace, new QHideEvent());
// QCoreApplication::postEvent(middleTrace, new QHideEvent());
// QCoreApplication::postEvent(ringTrace, new QHideEvent());
// QCoreApplication::postEvent(pinkieTrace, new QHideEvent());
}
else
{
if(ui.checkBox_ShowFingers->isChecked())
{
foreach (FingerTraceWindow * fTrace, fingerTraces)
QCoreApplication::postEvent(fTrace, new QShowEvent());
}
// QCoreApplication::postEvent(thumbTrace, new QShowEvent());
// QCoreApplication::postEvent(indexTrace, new QShowEvent());
// QCoreApplication::postEvent(middleTrace, new QShowEvent());
// QCoreApplication::postEvent(ringTrace, new QShowEvent());
// QCoreApplication::postEvent(pinkieTrace, new QShowEvent());
}
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
hand = *hl;
//TODO: Perhaps move this to gestures?
if (ui.checkBox_Crunch->isChecked())
{
if (hands.count() == 2)
{
// we check if one hand's dragging and the other's closed
if (hand.isLeft())
{
// if this hand is left, and the other hand (right) is dragging something..
if (debugWindowDrag_Right.left != -1)
{
debugDisplayString = QString::number(hand.grabStrength());
//pretty much closed
if (hand.grabStrength() >= 0.7)
{
SendMessage(debugWindowHWND_Right, WM_SYSCOMMAND, SC_CLOSE, 0);
// DestroyWindow();
}
}
}
else
{
// if this hand is left, and the other hand (right) is dragging something..
if (debugWindowDrag_Left.left != -1)
{
//pretty much closed
if (hand.grabStrength() >= 0.7)
{
// DestroyWindow(debugWindowHWND_Left);
SendMessage(debugWindowHWND_Left, WM_SYSCOMMAND, SC_CLOSE, 0);
}
}
}
}
}
// std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
// std::cout << std::string(2, ' ') << handType << ", id: " << hand.id()
// << ", palm position: " << hand.palmPosition() << std::endl;
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
// debugDisplayString = QString(", palm position: " + QString(hand.palmPosition().toString().data() ));
// debugDisplayString = QString::number(hand.palmPosition().x); //20
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(hand.palmPosition().y)); // 5
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(hand.palmPosition().z));
// debugDisplayString.append("\n");
// debugDisplayString.append("roll:" + QString::number(normal.roll()));
///--------------------------------------------------
if (debug_extendedFingerCounter != 0 && ui.checkBox_palmMouse->isChecked())
HandCursorPosition(hand.stabilizedPalmPosition());
if (ui.checkBox_HandRollDrag->isChecked())
{
if (bDebug_HandRollDrag)
{
if (normal.roll() > 0.7)
{
bDebug_HandRollDrag = false;
if (debug_extendedFingerCounter != 0)
MouseKeyboardEmulation::MouseLeftClickDown();
}
}
}
if (!bDebug_HandRollDrag)
{
if (normal.roll() < 0.5)
{
bDebug_HandRollDrag = true;
MouseKeyboardEmulation::MouseLeftClickUp();
}
}
///-----------------------------------------------
debug_extendedFingerCounter = 0;
foreach (Finger finger, fingers)
{
if (finger.isExtended())
debug_extendedFingerCounter++;
}
// Fist Scrolling
if (debug_extendedFingerCounter == 0 && ui.checkBox_palmScroll->isChecked())
{
if (fFistPositionY == 0)
fFistPositionY = hand.palmPosition().y;
if (hand.palmPosition().y > fFistPositionY + 10)
{
float fDifference = hand.palmPosition().y - fFistPositionY + 10;
fDifference /= 10;
MouseKeyboardEmulation::MouseWheelUp(fDifference);
}
else if (hand.palmPosition().y < fFistPositionY - 10)
{
float fDifference = abs(hand.palmPosition().y - fFistPositionY - 10);
fDifference /= 10;
MouseKeyboardEmulation::MouseWheelUp(-1 * fDifference);
}
// debugDisplayString = QString::number(ThumbMiddleDifference_X); //20
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(abs(middleFinger.stabilizedTipPosition().y - indexFinger.stabilizedTipPosition().y))); // 5
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(debug_extendedFingerCounter));
//works
// if(direction.pitch() * RAD_TO_DEG > 30)
// MouseKeyboardEmulation::MouseWheelUp((direction.pitch() * RAD_TO_DEG)/10);
// if(direction.pitch() * RAD_TO_DEG < 30)
// MouseKeyboardEmulation::MouseWheelDown(5);
}
else
{
if (fFistPositionY != 0)
fFistPositionY = 0;
}
// std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
// << "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
// << "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
Arm arm = hand.arm();
// std::cout << std::string(2, ' ') << "Arm direction: " << arm.direction()
// << " wrist position: " << arm.wristPosition()
// << " elbow position: " << arm.elbowPosition() << std::endl;
// Get fingers
fingers = hand.fingers();
FingerLogic(hand.isLeft() ? handLeft : handRight);
}
}