roboticslab::LeapMotionSensorDevice Class Reference

Represents a LeapMotion device wrapped as an analog sensor by YARP.

#include <LeapMotionSensorDevice.hpp>

Inheritance diagram for roboticslab::LeapMotionSensorDevice:

Public Member Functions
	LeapMotionSensorDevice (yarp::os::Searchable &config, bool usingPose)
	Constructor.
bool	acquireInterfaces () override
	Acquires plugin interfaces.
bool	initialize (const std::map< ICartesianControl::Config, double > &params) override
	Perform any custom initialization needed. This method is called after the successful creation of the device and once all interface handles are acquired.
bool	acquireData () override
	Acquires data from remote device.
bool	transformData (double scaling) override
	Performs required operations on stored data.
ICartesianControl::Actuator	getActuatorState () override
	If actuator command data is available, return its current state.
void	sendMovementCommand (double timestamp) override
	Sends movement command to the cartesian controller.
void	stopMotion () override
	Sends a movement command that would stop motion.
Public Member Functions inherited from roboticslab::StreamingDevice
	StreamingDevice (yarp::os::Searchable &config)
	Constructor.
virtual	~StreamingDevice ()
	Destructor.
virtual bool	hasValidMovementData () const
	Checks whether the device may forward acquired and processed data to the controller.
void	setCartesianControllerHandle (ICartesianControl *iCartesianControl)
	Stores handle to an ICartesianControl instance.

Private Attributes
yarp::dev::IAnalogSensor *	iAnalogSensor
bool	usingPose
std::vector< double >	initialTcpOffset
std::vector< double >	initialLeapOffset
KDL::Frame	frame_base_leap
KDL::Frame	frame_ee_leap
KDL::Frame	frame_leap_ee
KDL::Frame	previousPose
double	previousTimestamp
bool	hasActuator
bool	grab
bool	pinch

Additional Inherited Members
Protected Attributes inherited from roboticslab::StreamingDevice
ICartesianControl *	iCartesianControl
std::vector< double >	data
std::vector< bool >	fixedAxes
ICartesianControl::Actuator	actuatorState

Member Function Documentation

acquireData()

bool LeapMotionSensorDevice::acquireData ( )

overridevirtual

Returns

true on success, false otherwise

Implements roboticslab::StreamingDevice.

acquireInterfaces()

bool LeapMotionSensorDevice::acquireInterfaces ( )

overridevirtual

Returns

true on success, false otherwise

Implements roboticslab::StreamingDevice.

getActuatorState()

ICartesianControl::Actuator LeapMotionSensorDevice::getActuatorState ( )

overridevirtual

Returns

integer value describing current actuator state

Reimplemented from roboticslab::StreamingDevice.

initialize()

bool LeapMotionSensorDevice::initialize ( const std::map< ICartesianControl::Config, double > &  params )

overridevirtual

Parameters

params

Configuration parameters for the cartesian controller.

Returns

true on success, false otherwise

Reimplemented from roboticslab::StreamingDevice.

sendMovementCommand()

void LeapMotionSensorDevice::sendMovementCommand ( double  timestamp )

overridevirtual

Parameters

timestamp

Current timestamp.

Implements roboticslab::StreamingDevice.

stopMotion()

void roboticslab::LeapMotionSensorDevice::stopMotion ( )

inlineoverridevirtual

Implements roboticslab::StreamingDevice.

transformData()

bool LeapMotionSensorDevice::transformData ( double  scaling )

overridevirtual

Parameters

scaling

Scaling factor applied to each data value.

Returns

true on success, false otherwise

Reimplemented from roboticslab::StreamingDevice.

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The documentation for this class was generated from the following files:

• programs/streamingDeviceController/LeapMotionSensorDevice.hpp
• programs/streamingDeviceController/LeapMotionSensorDevice.cpp