//--------------------------------------------------------------
void testApp::recordArmXML (Hand & hand){
if (bRecordingThisFrame){
Arm arm = hand.arm();
if (arm.isValid()){
float armWidth = arm.width();
XML.setValue("AW", armWidth, lastTagNumber);
ofPoint palmPt = leap.getofPoint ( hand.palmPosition());
ofPoint wristPt = leap.getofPoint ( arm.wristPosition());
ofPoint elbowPt = leap.getofPoint ( arm.elbowPosition());
ofPoint palmNorm = leap.getofPoint ( hand.palmNormal());
int palmPtTagNum = XML.addTag("PM");
XML.setValue("PM:X", palmPt.x, palmPtTagNum);
XML.setValue("PM:Y", palmPt.y, palmPtTagNum);
XML.setValue("PM:Z", palmPt.z, palmPtTagNum);
int wristPtTagNum = XML.addTag("W");
XML.setValue("W:X", wristPt.x, wristPtTagNum);
XML.setValue("W:Y", wristPt.y, wristPtTagNum);
XML.setValue("W:Z", wristPt.z, wristPtTagNum);
int elbowPtTagNum = XML.addTag("E");
XML.setValue("E:X", elbowPt.x, elbowPtTagNum);
XML.setValue("E:Y", elbowPt.y, elbowPtTagNum);
XML.setValue("E:Z", elbowPt.z, elbowPtTagNum);
int palmNormTagNum = XML.addTag("PN");
XML.setValue("PN:X", palmNorm.x, palmNormTagNum);
XML.setValue("PN:Y", palmNorm.y, palmNormTagNum);
XML.setValue("PN:Z", palmNorm.z, palmNormTagNum);
//---------------
// Export the hand basis matrix
Leap::Matrix handMatrix = hand.basis();
ofPoint handBasisX = leap.getofPoint( handMatrix.xBasis);
ofPoint handBasisY = leap.getofPoint( handMatrix.yBasis);
ofPoint handBasisZ = leap.getofPoint( handMatrix.zBasis);
int handMatrixTagNum = XML.addTag("HM");
if( XML.pushTag("HM", handMatrixTagNum) ){
XML.setValue("XX", handBasisX.x, handMatrixTagNum);
XML.setValue("XY", handBasisX.y, handMatrixTagNum);
XML.setValue("XZ", handBasisX.z, handMatrixTagNum);
XML.setValue("YX", handBasisY.x, handMatrixTagNum);
XML.setValue("YY", handBasisY.y, handMatrixTagNum);
XML.setValue("YZ", handBasisY.z, handMatrixTagNum);
XML.setValue("ZX", handBasisZ.x, handMatrixTagNum);
XML.setValue("ZY", handBasisZ.y, handMatrixTagNum);
XML.setValue("ZZ", handBasisZ.z, handMatrixTagNum);
XML.popTag(); // pop HM (Hand Matrix)
}
//---------------
// Export the arm basis matrix
Leap::Matrix armMatrix = arm.basis();
ofPoint armBasisX = leap.getofPoint( armMatrix.xBasis);
ofPoint armBasisY = leap.getofPoint( armMatrix.yBasis);
ofPoint armBasisZ = leap.getofPoint( armMatrix.zBasis);
int armMatrixTagNum = XML.addTag("AM");
if( XML.pushTag("AM", armMatrixTagNum) ){
XML.setValue("XX", armBasisX.x, armMatrixTagNum);
XML.setValue("XY", armBasisX.y, armMatrixTagNum);
XML.setValue("XZ", armBasisX.z, armMatrixTagNum);
XML.setValue("YX", armBasisY.x, armMatrixTagNum);
XML.setValue("YY", armBasisY.y, armMatrixTagNum);
XML.setValue("YZ", armBasisY.z, armMatrixTagNum);
XML.setValue("ZX", armBasisZ.x, armMatrixTagNum);
XML.setValue("ZY", armBasisZ.y, armMatrixTagNum);
XML.setValue("ZZ", armBasisZ.z, armMatrixTagNum);
XML.popTag(); // pop AM (Arm Matrix)
}
}
}
}
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 LeapVisualizer::drawArm (Hand & hand,ofxLeapMotion & leap){
// Draw the wrist and elbow points.
Arm arm = hand.arm();
if (arm.isValid()){
ofPoint handPt = leap.getofPoint ( hand.palmPosition());
ofPoint handNorm = leap.getofPoint ( hand.palmNormal());
ofPoint wristPt = leap.getofPoint ( arm.wristPosition());
ofPoint elbowPt = leap.getofPoint ( arm.elbowPosition());
float basisLen = 50.0;
if (bDrawSimple){
ofSetColor(ofColor::white);
ofDrawSphere(handPt, 8.0);
ofDrawSphere(wristPt, 8.0);
ofDrawSphere(elbowPt, 8.0);
ofLine(handPt, wristPt);
ofLine(wristPt, elbowPt);
ofLine(handPt, handPt+ basisLen*handNorm);
ofDrawSphere(handPt+ basisLen*handNorm, 2.0);
// draw the rotation vectors of the hand.
{
Leap::Matrix handMatrix = hand.basis();
ofPoint handBasisX = leap.getofPoint( handMatrix.xBasis);
ofPoint handBasisY = leap.getofPoint( handMatrix.yBasis);
ofPoint handBasisZ = leap.getofPoint( handMatrix.zBasis);
glLineWidth(2.0);
ofSetColor(ofColor::red ); ofLine(handPt, handPt + basisLen*handBasisX);
ofSetColor(ofColor::green); ofLine(handPt, handPt + basisLen*handBasisY);
ofSetColor(ofColor::blue ); ofLine(handPt, handPt + basisLen*handBasisZ);
glLineWidth(1.0);
// draw the identity of the hand (left or right)
string whichHandString = "RIGHT";
if (hand.isLeft()){
whichHandString = "LEFT";
}
// float handConfidence = hand.confidence();
// whichHandString += " " + ofToString(handConfidence);
ofSetColor(ofColor::white);
ofDrawBitmapString(whichHandString, (handPt + (basisLen*1.2)*handBasisY));
}
// draw the rotation vectors of the arm.
{
Leap::Matrix armMatrix = arm.basis();
ofPoint armBasisX = leap.getofPoint( armMatrix.xBasis);
ofPoint armBasisY = leap.getofPoint( armMatrix.yBasis);
ofPoint armBasisZ = leap.getofPoint( armMatrix.zBasis);
glLineWidth(2.0);
ofSetColor(ofColor::red ); ofLine(wristPt, wristPt + basisLen*armBasisX);
ofSetColor(ofColor::green); ofLine(wristPt, wristPt + basisLen*armBasisY);
ofSetColor(ofColor::blue ); ofLine(wristPt, wristPt + basisLen*armBasisZ);
glLineWidth(1.0);
}
} else {
// Draw a cylinder between two points, properly oriented in space.
float armWidth = arm.width();
float dx = wristPt.x - elbowPt.x;
float dy = wristPt.y - elbowPt.y;
float dz = wristPt.z - elbowPt.z;
float dh = sqrt(dx*dx + dy*dy + dz*dz);
ofPushMatrix();
{
ofTranslate( (elbowPt.x+wristPt.x)/2, (elbowPt.y+wristPt.y)/2, (elbowPt.z+wristPt.z)/2 );
float theta = 90 - RAD_TO_DEG * asin(dz/dh);
float phi = RAD_TO_DEG * atan2(dy,dx);
ofRotate(phi, 0,0,1);
ofRotate(theta, 0,1,0);
ofRotate(90, 1,0,0);
// Get the arm Matrix, which provides its orthogonal basis vectors.
Leap::Matrix armMatrix = arm.basis();
ofPoint armBasisY = leap.getofPoint( armMatrix.yBasis);
float ax = armBasisY.x;
float ay = armBasisY.y;
float az = armBasisY.z;
// Compute the longitudinal rotation of the arm.
// Sheesh, I really need to learn 3D matrix math.
ofNode armBasisYNode;
armBasisYNode.setPosition(armBasisY);
armBasisYNode.rotateAround(0- phi, ofVec3f(0,0,1), ofVec3f(0,0,0));
armBasisYNode.rotateAround(0- theta, ofVec3f(0,1,0), ofVec3f(0,0,0));
armBasisYNode.rotateAround(0- 90, ofVec3f(1,0,0), ofVec3f(0,0,0));
ofPoint newArmBasisY = armBasisYNode.getPosition();
float armRotation = RAD_TO_DEG * atan2f(newArmBasisY.z, newArmBasisY.x);
ofPushMatrix();
{
ofRotate(armRotation, 0,-1,0);
float armThicknessRatio = 0.6;
glScalef(armThicknessRatio, 1.0, 1.0);
ofSetColor(ofColor::magenta);
// Oblate arm cylinder
ofDrawCylinder (armWidth/2.0, dh);
// Wrist endcap
ofPushMatrix();
ofTranslate(ofPoint(0, dh/2,0));
glScalef(1.0, armThicknessRatio, 1.0);
ofDrawSphere(armWidth/2.0);
ofPopMatrix();
// Elbow endcap
ofPushMatrix();
ofTranslate(ofPoint(0, -dh/2,0));
glScalef(1.0, armThicknessRatio, 1.0);
ofDrawSphere(armWidth/2.0);
ofPopMatrix();
} // Close popMatrix
ofPopMatrix();
} // Close popMatrix
ofPopMatrix();
} // Close if !drawSimple
} // Close if arm isValid
}
/* ----------------------------------------------------------------------------------------- */
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);
}
