LeapMotionSensorDevice.hpp

#ifndef __LEAP_MOTION_SENSOR_DEVICE_HPP__
#define __LEAP_MOTION_SENSOR_DEVICE_HPP__
 
#include "StreamingDevice.hpp"
 
#include <vector>
 
#include <kdl/frames.hpp>
 
#include <yarp/dev/IAnalogSensor.h>
 
namespace roboticslab
{
 
class LeapMotionSensorDevice : public StreamingDevice
{
public:
    LeapMotionSensorDevice(yarp::os::Searchable & config, bool usingPose);
 
    bool acquireInterfaces() override;
 
    bool initialize(const std::map<ICartesianControl::Config, double> & params) override;
 
    bool acquireData() override;
 
    bool transformData(double scaling) override;
 
    ICartesianControl::Actuator getActuatorState() override;
 
    void sendMovementCommand(double timestamp) override;
 
    void stopMotion() override
    {}
 
private:
    yarp::dev::IAnalogSensor * iAnalogSensor;
 
    bool usingPose;
 
    std::vector<double> initialTcpOffset;
    std::vector<double> initialLeapOffset;
 
    KDL::Frame frame_base_leap, frame_ee_leap, frame_leap_ee;
 
    KDL::Frame previousPose;
    double previousTimestamp;
 
    bool hasActuator;
    bool grab, pinch;
};
 
} // namespace roboticslab
 
#endif // __LEAP_MOTION_SENSOR_DEVICE_HPP__