leap

package
v0.13.0 Latest Latest
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 Go to latest Published: Oct 10, 2016 License: Apache-2.0, Apache-2.0 Imports: 4 Imported by: 0

README

Leap

The Leap Motion is a user-interface device that tracks the user's hand motions, and translates them into events that can control robots and physical computing hardware.

For more info about the Leap Motion platform click Leap Motion

How to Install

First install the Leap Motion Software

Now you can install the package with:

go get -d -u github.com/hybridgroup/gobot/... && go install github.com/hybridgroup/gobot/platforms/leap

How to Use

package main

import (
	"fmt"

	"github.com/hybridgroup/gobot"
	"github.com/hybridgroup/gobot/platforms/leap"
)

func main() {
	gbot := gobot.NewGobot()

	leapMotionAdaptor := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
	l := leap.NewLeapMotionDriver(leapMotionAdaptor, "leap")

	work := func() {
		gobot.On(l.Event("message"), func(data interface{}) {
			fmt.Println(data.(leap.Frame))
		})
	}

	robot := gobot.NewRobot("leapBot",
		[]gobot.Connection{leapMotionAdaptor},
		[]gobot.Device{l},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}

How To Connect

OSX

This driver works out of the box with the vanilla installation of the Leap Motion Software that you get in their Setup Guide.

The main steps are:

  • Run Leap Motion.app to open a websocket connection in port 6437.
  • Connect your Computer and Leap Motion Controller.
  • Connect to the device via Gobot.
Ubuntu

The Linux download of the Leap Motion software can be obtained from Leap Motion Dev Center (requires free signup)

The main steps are:

  • Run the leapd daemon, to open a websocket connection in port 6437.
  • Connect your computer and the Leap Motion controller
  • Connect to the device via Gobot

Documentation

Overview

Package leap provides the Gobot adaptor and driver for the Leap Motion.

Installing:

* First install the [Leap Motion Software](https://www.leapmotion.com/setup). * Then install the package: 

go get github.com/hybridgroup/gobot/platforms/leap

Example: 

package main

import (
	"fmt"

	"github.com/hybridgroup/gobot"
	"github.com/hybridgroup/gobot/platforms/leap"
)

func main() {
	gbot := gobot.NewGobot()

	leapMotionAdaptor := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
	l := leap.NewLeapMotionDriver(leapMotionAdaptor, "leap")

	work := func() {
		gobot.On(l.Event("message"), func(data interface{}) {
			fmt.Println(data.(leap.Frame))
		})
	}

	robot := gobot.NewRobot("leapBot",
		[]gobot.Connection{leapMotionAdaptor},
		[]gobot.Device{l},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}

For more information refer to the leap README: https://github.com/hybridgroup/gobot/blob/master/platforms/leap/README.md

Index

Constants

View Source 
const (
	// Message event
	MessageEvent = "message"
	// Hand event
	HandEvent = "hand"
	// Gesture event
	GestureEvent = "gesture"
)

Variables

This section is empty.

Functions

This section is empty.

Types

type Frame 

type Frame struct {
	CurrentFrameRate float64        `json:"currentFrameRate"`
	Gestures         []Gesture      `json:"gestures"`
	Hands            []Hand         `json:"hands"`
	ID               int            `json:"id"`
	InteractionBox   InteractionBox `json:"interactionBox"`
	Pointables       []Pointable    `json:"pointables"`
	R                [][]float64    `json:"r"`
	S                float64        `json:"s"`
	T                []float64      `json:"t"`
	Timestamp        int            `json:"timestamp"`
}

Base representation returned that holds every other objects

type Gesture 

type Gesture struct {
	Direction     []float64   `json:"direction"`
	Duration      int         `json:"duration"`
	Hands         []Hand      `json:"hands"`
	ID            int         `json:"id"`
	Pointables    []Pointable `json:"pointables"`
	Position      []float64   `json:"position"`
	Speed         float64     `json:"speed"`
	StartPosition []float64   `json:"StartPosition"`
	State         string      `json:"state"`
	Type          string      `json:"type"`
}

type Hand 

type Hand struct {
	Direction              []float64   `json:"direction"`
	ID                     int         `json:"id"`
	PalmNormal             []float64   `json:"palmNormal"`
	PalmPosition           []float64   `json:"PalmPosition"`
	PalmVelocity           []float64   `json:"PalmVelocity"`
	R                      [][]float64 `json:"r"`
	S                      float64     `json:"s"`
	SphereCenter           []float64   `json:"sphereCenter"`
	SphereRadius           float64     `json:"sphereRadius"`
	StabilizedPalmPosition []float64   `json:"stabilizedPalmPosition"`
	T                      []float64   `json:"t"`
	TimeVisible            float64     `json:"TimeVisible"`
}

func (*Hand) X 

func (h *Hand) X() float64

X returns hand x value

func (*Hand) Y 

func (h *Hand) Y() float64

Y returns hand y value

func (*Hand) Z 

func (h *Hand) Z() float64

Z returns hand z value

type InteractionBox 

type InteractionBox struct {
	Center []int     `json:"center"`
	Size   []float64 `json:"size"`
}

type LeapMotionAdaptor 

type LeapMotionAdaptor struct {
	// contains filtered or unexported fields
}

func NewLeapMotionAdaptor 

func NewLeapMotionAdaptor(name string, port string) *LeapMotionAdaptor

NewLeapMotionAdaptor creates a new leap motion adaptor using specified name and port

func (*LeapMotionAdaptor) Connect 

func (l *LeapMotionAdaptor) Connect() (errs []error)

Connect returns true if connection to leap motion is established successfully

func (*LeapMotionAdaptor) Finalize 

func (l *LeapMotionAdaptor) Finalize() (errs []error)

Finalize ends connection to leap motion

func (*LeapMotionAdaptor) Name 

func (l *LeapMotionAdaptor) Name() string

func (*LeapMotionAdaptor) Port 

func (l *LeapMotionAdaptor) Port() string

type LeapMotionDriver 

type LeapMotionDriver struct {
	gobot.Eventer
	// contains filtered or unexported fields
}

func NewLeapMotionDriver 

func NewLeapMotionDriver(a *LeapMotionAdaptor, name string) *LeapMotionDriver

NewLeapMotionDriver creates a new leap motion driver with specified name

Adds the following events: 

"message" - Gets triggered when receiving a message from leap motion
"hand" - Gets triggered per-message when leap motion detects a hand
"gesture" - Gets triggered per-message when leap motion detects a hand

func (*LeapMotionDriver) Connection 

func (l *LeapMotionDriver) Connection() gobot.Connection

func (*LeapMotionDriver) Halt 

func (l *LeapMotionDriver) Halt() (errs []error)

Halt returns true if driver is halted successfully

func (*LeapMotionDriver) Name 

func (l *LeapMotionDriver) Name() string

func (*LeapMotionDriver) ParseFrame 

func (l *LeapMotionDriver) ParseFrame(data []byte) Frame

ParseFrame converts json data to a Frame

func (*LeapMotionDriver) Start 

func (l *LeapMotionDriver) Start() (errs []error)

Start inits leap motion driver by enabling gestures and listening from incoming messages.

Publishes the following events: 

"message" - Emits Frame on new message received from Leap.
"hand" - Emits Hand when detected in message from Leap.
"gesture" - Emits Gesture when detected in message from Leap.

type Pointable 

type Pointable struct {
	Direction             []float64 `json:"direction"`
	HandID                int       `json:"handId"`
	ID                    int       `json:"id"`
	Length                float64   `json:"length"`
	StabilizedTipPosition []float64 `json:"stabilizedTipPosition"`
	TimeVisible           float64   `json:"timeVisible"`
	TipPosition           []float64 `json:"tipPosition"`
	TipVelocity           []float64 `json:"tipVelocity"`
	Tool                  bool      `json:"tool"`
	TouchDistance         float64   `json:"touchDistance"`
	TouchZone             string    `json:"touchZone"`
}

Source Files

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