inline void operator<<=(ssr::Orientation &dst, const Leap::Vector &src) {
dst.pitch = src.pitch();
dst.roll = src.roll();
dst.yaw = src.yaw();
}
void LeapMotion_Listener::onFrame(const Controller& controller) {
boolean debug = false;
//std::cin.get();
const float min_roll_left = 15.0f, max_roll_left = std::numeric_limits<float>::max();
const float min_roll_right = std::numeric_limits<float>::lowest(), max_roll_right = -15.0f;
const float min_pitch_up = 25.0f, max_pitch_up = std::numeric_limits<float>::max();
const float min_pitch_down = std::numeric_limits<float>::lowest(), max_pitch_down = -5.0f;
const float min_y_down = 0.0f, max_y_down = 70.0f;
const float min_y_up = 190.0f, max_y_up = std::numeric_limits<float>::max();
const float min_x_left = std::numeric_limits<float>::lowest(), max_x_left = -90.0f;
const float min_x_right = 90.0f, max_x_right = std::numeric_limits<float>::max();
//const float min_yaw_left_finger = std::numeric_limits<float>::lowest(), max_yaw_left_finger = -45.0f;
//const float min_yaw_right_finger = 10.0f, max_yaw_right_finger = std::numeric_limits<float>::max();
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
if (!frame.hands().isEmpty())
{
const Hand hand = frame.hands()[0];
const Leap::Vector normal = hand.palmNormal();
const Leap::Vector direction = hand.direction();
const float pitch = direction.pitch() * RAD_TO_DEG;
const float roll = normal.roll() * RAD_TO_DEG;
const float yaw = direction.yaw() * RAD_TO_DEG;
const float y_palm = hand.palmPosition().y;
const float x_palm = hand.palmPosition().x;
float x_drone = 0.0f, y_drone = 0.0f, z_drone = 0.0f, turn_drone = 0.0f;
if(y_palm>min_y_down && y_palm<max_y_down)
y_drone = -1.0f;
else if(y_palm>min_y_up && y_palm<max_y_up)
y_drone = 1.0f;
if(x_palm>min_x_left && x_palm<max_x_left)
turn_drone = -1.0f;
else if(x_palm>min_x_right && x_palm<max_x_right)
turn_drone = 1.0f;
if(pitch>min_pitch_up && pitch<max_pitch_up)
z_drone = 1.0f;
else if(pitch>min_pitch_down && pitch<max_pitch_down)
z_drone = -1.0f;
if(roll>min_roll_right && roll< max_roll_right)
x_drone = 1.0f;
else if(roll>min_roll_left && roll< max_roll_left)
x_drone = -1.0f;
/*if(roll>min_yaw_left_finger && roll<max_yaw_left_finger)
std::cout<<"turn_left";
else if(roll>min_yaw_right_finger && roll<max_yaw_right_finger)
std::cout<<"turn_right";
*/
if(x_drone != 0.0f || y_drone != 0.0f || z_drone != 0.0f || turn_drone != 0.0f)
{
int _speed_drone = 10;
At_Command _command;
if(x_drone !=0.0f && z_drone != 0.0f)
{
float margin = 0.25f;
(x_drone < 0)? x_drone += margin : x_drone -= margin;
(z_drone < 0)? z_drone += margin : z_drone -= margin;
}
if(y_drone != 0.0f)
_command = At_Command(0, y_drone, 0, 0, Point(_speed_drone, 100), _input_type);
else if(turn_drone != 0.0f)
_command = At_Command(0, 0, 0, turn_drone, Point(_speed_drone, 100), _input_type);
else
_command = At_Command(x_drone, y_drone, z_drone, turn_drone, Point(_speed_drone, 100), _input_type);
_multiple_Input_Devices->prepare_to_send(_command);
if(debug)
{
if(x_drone < 0.0f)
cout<<"Go_Left ";
else if(x_drone > 0.0f)
cout<<"Go_Right ";
if(y_drone > 0.0f)
cout<<"UP ";
else if(y_drone < 0.0f)
cout<<"DOWN ";
if(z_drone > 0.0f)
cout<<"FW ";
else if(z_drone < 0.0f)
cout<<"BW ";
if(turn_drone > 0.0f)
cout<<"turn_Right ";
else if(turn_drone < 0.0f)
cout<<"Turn_Left ";
std::cout<<std::endl;
}
}
}
}
void SampleListener::onFrame(const Leap::Controller& controller) {
// Get the most recent frame and report some basic information
const Leap::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;
Leap::HandList hands = frame.hands();
for (Leap::HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Leap::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 Leap::Vector normal = hand.palmNormal();
const Leap::Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * Leap::RAD_TO_DEG << " degrees, "
<< "roll: " << normal.roll() * Leap::RAD_TO_DEG << " degrees, "
<< "yaw: " << direction.yaw() * Leap::RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
Leap::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 Leap::FingerList fingers = hand.fingers();
for (Leap::FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Leap::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) {
Leap::Bone::Type boneType = static_cast<Leap::Bone::Type>(b);
Leap::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 Leap::ToolList tools = frame.tools();
for (Leap::ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
const Leap::Tool tool = *tl;
std::cout << std::string(2, ' ') << "Tool, id: " << tool.id()
<< ", position: " << tool.tipPosition()
<< ", direction: " << tool.direction() << std::endl;
}
// Get gestures
const Leap::GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Leap::Gesture gesture = gestures[g];
switch (gesture.type()) {
case Leap::Gesture::TYPE_CIRCLE:
{
Leap::CircleGesture circle = gesture;
std::string clockwiseness;
if (circle.pointable().direction().angleTo(circle.normal()) <= Leap::PI/2) {
clockwiseness = "clockwise";
} else {
clockwiseness = "counterclockwise";
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Leap::Gesture::STATE_START) {
Leap::CircleGesture previousUpdate = Leap::CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * Leap::PI;
}
std::cout << std::string(2, ' ')
<< "Circle id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", progress: " << circle.progress()
<< ", radius: " << circle.radius()
<< ", angle " << sweptAngle * Leap::RAD_TO_DEG
<< ", " << clockwiseness << std::endl;
break;
}
case Leap::Gesture::TYPE_SWIPE:
{
Leap::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 Leap::Gesture::TYPE_KEY_TAP:
{
Leap::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 Leap::Gesture::TYPE_SCREEN_TAP:
{
Leap::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;
}
}
