LeapMotionSensor.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __LEAP_MOTION_SENSOR_HPP__
#define __LEAP_MOTION_SENSOR_HPP__
 
#include <Leap.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IAnalogSensor.h>
 
#include <yarp/sig/Vector.h>
 
namespace roboticslab
{
 
class LeapMotionSensor : public yarp::dev::DeviceDriver,
                         public yarp::dev::IAnalogSensor
{
public:
 
    LeapMotionSensor() : controller(nullptr)
    { }
 
    ~LeapMotionSensor() override
    { close(); }
 
    //  --------- DeviceDriver Declarations. Implementation in DeviceDriverImpl.cpp ---------
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    //  --------- IAnalogSensor Declarations. Implementation in IAnalogSensorImpl.cpp ---------
    int read(yarp::sig::Vector &out) override;
 
    int getState(int ch) override;
 
    int getChannels() override;
 
    int calibrateSensor() override;
 
    int calibrateSensor(const yarp::sig::Vector& value) override;
 
    int calibrateChannel(int ch) override;
 
    int calibrateChannel(int ch, double value) override;
 
protected:
 
    Leap::Controller * controller;
    int32_t currentHandId;
    yarp::sig::Vector lastValidData;
};
 
} // namespace roboticslab
 
#endif // __LEAP_MOTION_SENSOR_HPP__