Driver for Ultraleap's V2 API for the Leap Motion Controller. More...

#include "ulv2_interface.h"
#include "util/u_device.h"
#include "util/u_var.h"
#include "util/u_debug.h"
#include "math/m_space.h"
#include "math/m_api.h"
#include "util/u_time.h"
#include "os/os_time.h"
#include "os/os_threading.h"
#include "Leap.h"

Include dependency graph for ulv2_driver.cpp:

Data Structures
struct	ulv2_device

Macros
#define	ULV2_TRACE(ulv2d, ...) U_LOG_XDEV_IFL_T(&ulv2d->base, ulv2d->log_level, __VA_ARGS__)

#define	ULV2_DEBUG(ulv2d, ...) U_LOG_XDEV_IFL_D(&ulv2d->base, ulv2d->log_level, __VA_ARGS__)

#define	ULV2_INFO(ulv2d, ...) U_LOG_XDEV_IFL_I(&ulv2d->base, ulv2d->log_level, __VA_ARGS__)

#define	ULV2_WARN(ulv2d, ...) U_LOG_XDEV_IFL_W(&ulv2d->base, ulv2d->log_level, __VA_ARGS__)

#define	ULV2_ERROR(ulv2d, ...) U_LOG_XDEV_IFL_E(&ulv2d->base, ulv2d->log_level, __VA_ARGS__)

#define	printf_pose(pose)

#define	xrtj(y) &joint_set->values.hand_joint_set_default[XRT_HAND_JOINT_##y]

#define	fb(y) finger.bone(y)

#define	prevJ(y) finger.bone(y).prevJoint()

#define	nextJ(y) finger.bone(y).nextJoint()

#define	lm Leap::Bone::TYPE_METACARPAL

#define	lp Leap::Bone::TYPE_PROXIMAL

#define	li Leap::Bone::TYPE_INTERMEDIATE

#define	ld Leap::Bone::TYPE_DISTAL

Enumerations
enum	leap_thread_status { THREAD_NOT_STARTED , THREAD_OK , THREAD_ERRORED_OUT }

Functions
struct ulv2_device *	ulv2_device (struct xrt_device *xdev)

static void	ulv2_process_joint (Leap::Vector jointpos, Leap::Matrix jointbasis, float width, int side, struct xrt_hand_joint_value *joint)

void	ulv2_process_hand (Leap::Hand hand, xrt_hand_joint_set *joint_set, int hi)

void *	leap_input_loop (void *ptr_to_xdev)

static void	ulv2_device_get_hand_tracking (struct xrt_device xdev, enum xrt_input_name name, uint64_t at_timestamp_ns, struct xrt_hand_joint_set out_value, uint64_t *out_timestamp_ns)

static void	ulv2_device_destroy (struct xrt_device *xdev)

xrt_result_t	ulv2_create_device (struct xrt_device **out_xdev)
	Probing function for Leap Motion Controller. More...

Variables
enum xrt_space_relation_flags	valid_flags

static int	error_time

Detailed Description

Driver for Ultraleap's V2 API for the Leap Motion Controller.

Author: Moses Turner moses.nosp@m.turn.nosp@m.er@pr.nosp@m.oton.nosp@m.mail..nosp@m.com; Christoph Haag chris.nosp@m.toph.nosp@m..haag.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Macro Definition Documentation

◆ printf_pose

#define printf_pose ( pose )

Value:

printf("%f %f %f %f %f %f %f\n", pose.position.x, pose.position.y, pose.position.z, pose.orientation.x, \

pose.orientation.y, pose.orientation.z, pose.orientation.w);

Function Documentation

◆ leap_input_loop()

void* leap_input_loop ( void * ptr_to_xdev )

Todo:: (Moses Turner) Could be using LeapController.now() to try to emulate our own pose prediction, but I ain't got time for that

Variable Documentation

◆ valid_flags

enum xrt_space_relation_flags valid_flags

Initial value:

= (enum xrt_space_relation_flags)(
    XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT |
    XRT_SPACE_RELATION_POSITION_VALID_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT)

Data Structures

Macros

Enumerations

Functions