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 gobot.io/x/gobot/...
How to Use
package main
import (
"fmt"
"gobot.io/x/gobot"
"gobot.io/x/gobot/platforms/leap"
)
func main() {
leapMotionAdaptor := leap.NewAdaptor("127.0.0.1:6437")
l := leap.NewDriver(leapMotionAdaptor)
work := func() {
l.On(l.Event("message"), func(data interface{}) {
fmt.Println(data.(leap.Frame))
})
}
robot := gobot.NewRobot("leapBot",
[]gobot.Connection{leapMotionAdaptor},
[]gobot.Device{l},
work,
)
robot.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 gobot.io/x/gobot/platforms/leap
Example:
package main
import (
"fmt"
"gobot.io/x/gobot"
"gobot.io/x/gobot/platforms/leap"
)
func main() {
leapMotionAdaptor := leap.NewAdaptor("127.0.0.1:6437")
l := leap.NewDriver(leapMotionAdaptor)
work := func() {
l.On(l.Event("message"), func(data interface{}) {
fmt.Println(data.(leap.Frame))
})
}
robot := gobot.NewRobot("leapBot",
[]gobot.Connection{leapMotionAdaptor},
[]gobot.Device{l},
work,
)
robot.Start()
}
For more information refer to the leap README: https://github.com/hybridgroup/gobot/blob/master/platforms/leap/README.md
Index ¶
Constants ¶
const ( // MessageEvent event MessageEvent = "message" // HandEvent event HandEvent = "hand" // GestureEvent event GestureEvent = "gesture" )
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type Adaptor ¶ added in v1.0.0
type Adaptor struct {
// contains filtered or unexported fields
}
Adaptor is the Gobot Adaptor connection to the Leap Motion
func NewAdaptor ¶ added in v1.0.0
NewAdaptor creates a new leap motion adaptor using specified port, which is this case is the host IP or name of the Leap Motion daemon
func (*Adaptor) Connect ¶ added in v1.0.0
Connect returns true if connection to leap motion is established successfully
type Driver ¶ added in v1.0.0
Driver the Gobot software device to the Leap Motion
func NewDriver ¶ added in v1.0.0
NewDriver creates a new leap motion driver
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 gesture
func (*Driver) Connection ¶ added in v1.0.0
func (l *Driver) Connection() gobot.Connection
Connection returns the Driver's Connection
func (*Driver) ParseFrame ¶ added in v1.0.0
ParseFrame converts json data to a Frame
func (*Driver) Start ¶ added in v1.0.0
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 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 uint64 `json:"timestamp"`
}
Frame is the base representation returned that holds every other objects
type Gesture ¶
type Gesture struct {
Center []float64 `json:"center"`
Direction []float64 `json:"direction"`
Duration int `json:"duration"`
HandIDs []int `json:"handIds"`
ID int `json:"id"`
Normal []float64 `json:"normal"`
PointableIDs []int `json:"pointableIds"`
Position []float64 `json:"position"`
Progress float64 `json:"progress"`
Radius float64 `json:"radius"`
Speed float64 `json:"speed"`
StartPosition []float64 `json:"StartPosition"`
State string `json:"state"`
Type string `json:"type"`
}
Gesture is a Leap Motion gesture that has been detected
type Hand ¶
type Hand struct {
ArmBasis [][]float64 `json:"armBasis"`
ArmWidth float64 `json:"armWidth"`
Confidence float64 `json:"confidence"`
Direction []float64 `json:"direction"`
Elbow []float64 `json:"elbow"`
GrabStrength float64 `json:"grabStrength"`
ID int `json:"id"`
PalmNormal []float64 `json:"palmNormal"`
PalmPosition []float64 `json:"PalmPosition"`
PalmVelocity []float64 `json:"PalmVelocity"`
PinchStrength float64 `json:"PinchStrength"`
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"`
Type string `json:"type"`
Wrist []float64 `json:"wrist"`
}
Hand is a Leap Motion hand that has been detected
type InteractionBox ¶
InteractionBox is the area within which the gestural interaction has been detected
type Pointable ¶
type Pointable struct {
Bases [][][]float64 `json:"bases"`
BTipPosition []float64 `json:"btipPosition"`
CarpPosition []float64 `json:"carpPosition"`
DipPosition []float64 `json:"dipPosition"`
Direction []float64 `json:"direction"`
Extended bool `json:"extended"`
HandID int `json:"handId"`
ID int `json:"id"`
Length float64 `json:"length"`
MCPPosition []float64 `json:"mcpPosition"`
PIPPosition []float64 `json:"pipPosition"`
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"`
Type int `json:"type"`
Width float64 `json:"width"`
}
Pointable is a Leap Motion pointing motion that has been detected
Source Files