implement the nova2 api updates and bump the senseglove libraries to v2.101.0-3e1693fb
This commit is contained in:
Mamadou Babaei
@@ -48,26 +48,6 @@ enum class ESGBackendType : uint8
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SharedMemory UMETA(DisplayName = "Shared Memory"),
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};
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/* Startup Stage used to indicate where of not a glove must be recalibrated. */
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UENUM(BlueprintType)
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enum class ESGCalibrationStage : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* We've only just started up. User needs to move their hands so we know if we're still in the same sensor range. */
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MoveFingers UMETA(DisplayName = "Move Fingers"),
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/* After moving, we've determined that a calibration must happen for proper hand tracking to happen. */
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CalibrationNeeded UMETA(DisplayName = "Calibration Needed"),
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/* After moving, we've determined that a calibration must happen for proper hand tracking to happen. */
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Calibrating UMETA(DisplayName = "Calibrating"),
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/* We've determined that this needs no (more) calibration to function as intended. */
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Done UMETA(DisplayName = "Done"),
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};
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/* Connection type of this device, as detected by the SGConnect library. */
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UENUM(BlueprintType)
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enum class ESGConnectionType : uint8
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@@ -88,28 +68,98 @@ enum class ESGConnectionType : uint8
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BluetoothAndroid UMETA(DisplayName = "Bluetooth Android"),
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};
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/* Sense Glove C string Variables, enumerated for our convenience. */
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/**
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* Used to access specific positions from the CV output, which is an array of Vect3D positions.
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* @remarks Declared in CVHandOutput.cs because these enums are used to index the jointPositions array in that class.
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*/
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UENUM(BlueprintType)
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enum class ESGCVar : uint8
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enum class ESGCVHandPoints : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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ID UMETA(DisplayName = "ID"),
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GloveVersion UMETA(DisplayName = "Glove Version"),
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FirmwareVersion UMETA(DisplayName = "Firmware Version"),
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LeftRight UMETA(DisplayName = "Left Right"),
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Functions UMETA(DisplayName = "Functions"),
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GlovePos UMETA(DisplayName = "Glove Pos"),
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/* The position of the Wrist as determined by the CV Model. */
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Wrist UMETA(DisplayName = "Wrist"),
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/* All gloves have functionality up to this point. */
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GloveLengths UMETA(DisplayName = "Glove Lengths"),
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/* The position of the Thumb CMC Joint as determined by the CV Model. */
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ThumbCmc UMETA(DisplayName = "Thumb CMC"),
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NumberOfSensors UMETA(DisplayName = "Number Of Sensors"),
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ImuCorrection UMETA(DisplayName = "IMU Correction"),
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/* The position of the Thumb MCP Joint as determined by the CV Model. */
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ThumbMcp UMETA(DisplayName = "Thumb MCP"),
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/* Utility value used in iteration / checking lengths. */
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AllC UMETA(DisplayName = "All C"),
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/* The position of the Thumb IP Joint as determined by the CV Model. */
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ThumbIp UMETA(DisplayName = "Thumb IP"),
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/* The position of the Thumb tip as determined by the CV Model. */
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ThumbTip UMETA(DisplayName = "Thumb Tip"),
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/* The position of the Index MCP Joint as determined by the CV Model. */
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IndexMcp UMETA(DisplayName = "Indexx MCP"),
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/* The position of the Index PIP Joint as determined by the CV Model. */
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IndexPip UMETA(DisplayName = "Index PIP"),
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/* The position of the Index DIP Joint as determined by the CV Model. */
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IndexDip UMETA(DisplayName = "Index DIP"),
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/* The position of the Index fingertip as determined by the CV Model. */
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IndexTip UMETA(DisplayName = "Index Tip"),
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/* The position of the Middle MCP Joint as determined by the CV Model. */
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MiddleMcp UMETA(DisplayName = "Middle MCP"),
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/* The position of the Middle PIP Joint as determined by the CV Model. */
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MiddlePip UMETA(DisplayName = "Middle PIP"),
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/* The position of the Middle DIP Joint as determined by the CV Model. */
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MiddleDip UMETA(DisplayName = "Middle DIP"),
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/* The position of the Middle fingertip as determined by the CV Model. */
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MiddleTip UMETA(DisplayName = "Middle Tip"),
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/* The position of the Ring MCP Joint as determined by the CV Model. */
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RingMcp UMETA(DisplayName = "Ring MCP"),
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/* The position of the Ring PIP Joint as determined by the CV Model. */
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RingPip UMETA(DisplayName = "Ring PIP"),
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/* The position of the Ring DIP Joint as determined by the CV Model. */
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RingDip UMETA(DisplayName = "Ring DIP"),
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/* The position of the Ring fingertip as determined by the CV Model. */
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RingTip UMETA(DisplayName = "Rint Tip"),
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/* The position of the Pinky MCP Joint as determined by the CV Model. */
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PinkyMcp UMETA(DisplayName = "Pinky MCP"),
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/* The position of the Pinky PIP Joint as determined by the CV Model. */
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PinkyPip UMETA(DisplayName = "Pinky PIP"),
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/* The position of the Pinky DIP Joint as determined by the CV Model. */
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PinkyDip UMETA(DisplayName = "Pinky DIP"),
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/* The position of the Pinky fingertip as determined by the CV Model. */
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PinkyTip UMETA(DisplayName = "Pinky Tip"),
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/* Utility enumerator to check if an array contains enough values. */
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All UMETA(DisplayName = "All"),
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};
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/* How much of the CV tracking is being used. Used by other APIs. */
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UENUM(BlueprintType)
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enum class ESGCVTrackingDepth : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* No computer-vision is enabled. */
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Disabled UMETA(DisplayName = "Disabled"),
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/* Use CV only for the wrist position/rotation. */
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WristOnly UMETA(DisplayName = "Wrist Only"),
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/* Use CV for both the wrist location and Hand Position. */
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WristAndHandPose UMETA(DisplayName = "Wrist and Hand Pose"),
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};
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/* Specific devices within the SGCore library. */
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@@ -123,13 +173,16 @@ enum class ESGDeviceType : uint8
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Unknown UMETA(DisplayName = "Unknown"),
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/* A Device that is in development, with direct access to sensor data and commands. */
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BetaDevice UMETA(DisplayName = "BetaDevice"),
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BetaDevice UMETA(DisplayName = "Beta Device"),
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/* An exoskeleton glove that provides force- and haptic feedback. */
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SenseGlove UMETA(DisplayName = "SenseGlove"),
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SenseGlove UMETA(DisplayName = "Sense Glove"),
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/* A soft glove with basic tracking, as well as force- and Haptic Feedback. */
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Nova UMETA(DisplayName = "Nova"),
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/* A soft glove with basic tracking, as well as force- and Haptic Feedback. */
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Nova2 UMETA(DisplayName = "Nova 2"),
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};
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/* One of the fingers on the hand. */
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@@ -185,6 +238,78 @@ enum class ESGFingerSolver : uint8
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Interpolation UMETA(DisplayName = "Interpolation"),
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};
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/* Different types of Haptic Channels - with different behaviours. */
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UENUM(BlueprintType)
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enum class ESGHapticChannelType : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/**
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* This type of haptic channel can be constantly overridden. SGConnect will only send a command if a change occurs.
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* Ideal for Force-Feedback.
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*/
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StreamingChannel UMETA(DisplayName = "Streaming Channel"),
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/* These commands must be sent once, after their queue is cleared. */
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FireAndForgetChannel UMETA(DisplayName = "Fire and Forget Channel"),
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};
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/* The Calibration State of this Glove. */
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UENUM(BlueprintType)
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enum class ESGHapticGloveCalibrationState : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* No idea what the calibrationState of this glove is... */
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Unknown UMETA(DisplayName = "Unknown"),
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/* One or more sensors still need to move... */
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MoveFingers UMETA(DisplayName = "Move Fingers"),
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/* All sensors have moved. */
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AllSensorsMoved UMETA(DisplayName = "All Sensors Moved"),
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/* Calibration is locked in. Done collecting Data. */
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CalibrationLocked UMETA(DisplayName = "Calibration Locked"),
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};
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/* All of the locations supported by the SenseGlove API. */
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UENUM(BlueprintType)
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enum class ESGHapticLocation : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* Unknown location. Calling haptic function(s) with this parameter will not play anything. */
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Unknown UMETA(DisplayName = "Unknown"),
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/* <summary> Fingertip of the Thumb. */
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ThumbTip UMETA(DisplayName = "Thumb Tip"),
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/* Fingertip of the Index Finger. */
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IndexTip UMETA(DisplayName = "Index Tip"),
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/* Fingertip of the Middle Finger. */
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MiddleTip UMETA(DisplayName = "Middle Tip"),
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/* Fingertip of the Ring Finger. */
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RingTip UMETA(DisplayName = "Ring Tip"),
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/* Fingertip of the Pinky Finger. */
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PinkyTip UMETA(DisplayName = "Pinky Tip"),
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/* Vibration on the hand palm, close to the index finger. */
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PalmIndexSide UMETA(DisplayName = "Palm Index Side"),
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/* Vibration on the hand palm close to the pinky finger. */
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PalmPinkySide UMETA(DisplayName = "Palm Pinky Side"),
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/* Play this Haptic Effect on the whole hand. For General Hand Feedback. */
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WholeHand UMETA(DisplayName = "Whole Hand"),
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};
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/* Indices to access DeviceList data in Shared Memory. */
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UENUM(BlueprintType)
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enum class ESGListFormat : uint8
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@@ -202,6 +327,84 @@ enum class ESGListFormat : uint8
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All UMETA(DisplayName = "All"),
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};
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/* State of the Nova's sensor Normalization. */
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UENUM(BlueprintType)
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enum class ESGNormalizationState : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* Unable to retrieve the state out of our Sensor Data :( */
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Unknown UMETA(DisplayName = "Unknown"),
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/* Developer has asked the glove to send raw data. */
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SendingRawData UMETA(DisplayName = "Sending Raw Data"),
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/* The glove is currently normalizing, but the fingers haven't moved enough. */
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Normalizing_MoveFingers UMETA(DisplayName = "Normalizing: Move Fingers"),
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/* Fires when all fingers have moved enough and you _could_ stop normalization
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/// collection. */
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Normalizing_AwaitConfirm UMETA(DisplayName = "Normalizing: Await Confirm"),
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/* Normalization is completed. */
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NormalizationFinished UMETA(DisplayName = "Normalization Finished"),
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};
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/* Used to access a sensor Movement of the Nova_SensorData class. */
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UENUM(BlueprintType)
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enum class ESGNovaSensorLocation : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* Sideways motion; finger splay, moving the thumb away from the hand palm. */
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Abduction UMETA(DisplayName = "Abduction"),
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/* Flexion of any sensor. */
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Flexion UMETA(DisplayName = "Flexion"),
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};
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/* Used to access a sensor Movement of the Nova_SensorData class. */
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UENUM(BlueprintType)
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enum class ESGNova2SensorLocation : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* Sideways motion; finger splay, moving the thumb away from the hand palm. */
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Abduction UMETA(DisplayName = "Abduction"),
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/* Flexion of any sensor close to the thumb. */
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FlexionProximal UMETA(DisplayName = "Flexion Proximal"),
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/* flexion of any sensor further from the hub. */
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FlexionDistal UMETA(DisplayName = "Flexion Distal"),
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};
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/* Which vibration motors to send vibrations to. */
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UENUM(BlueprintType)
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enum class ESGNova2VibroMotor : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* Not sure which motor this is meant for. */
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Unknown UMETA(DisplayName = "Unknown"),
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/* LRA Vibration Motor that is located on the thumb fingertip. */
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ThumbFingertip UMETA(DisplayName = "Thumb Fingertip"),
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/* LRA Vibration Motor that is located on the index fingertip. */
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IndexFingertip UMETA(DisplayName = "Index Fingertip"),
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/* LRA Vibration Motor that is located on the hand palm, roughly at the Index MCP joint. */
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PalmIndexSide UMETA(DisplayName = "Palm Index Side"),
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/* LRA Vibration Motor that is located on the hand palm, roughly at the Pinky MCP joint. */
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PalmPinkySide UMETA(DisplayName = "Palm Pinky Side"),
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};
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/* Order of values as they come in from the Nova. */
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UENUM(BlueprintType)
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enum class ESGNovaCVar : uint8
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@@ -233,17 +436,24 @@ enum class ESGNovaData : uint8
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All UMETA(DisplayName = "All"),
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};
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/* Enumerators for Nova Data position in the parseable string. */
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/* Which vibration motors to send vibrations to. */
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UENUM(BlueprintType)
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enum class ESGNovaSensorData : uint8
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enum class ESGNovaVibroMotor : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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Sensors UMETA(DisplayName = "Sensors"),
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Imu UMETA(DisplayName = "IMU"),
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Battery UMETA(DisplayName = "Battery"),
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All UMETA(DisplayName = "All"),
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/* Not sure which motor to send this to. */
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Unknown UMETA(DisplayName = "Unknown"),
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/* Vibration motor located at the back of the hand. A.k.a. "The Thumper". */
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BackOfHand UMETA(DisplayName = "Back of Hand"),
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/* Vibration motor located at the tip of the thumb. */
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ThumbTip UMETA(DisplayName = "Thumb Tip"),
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/* Vibration motor located at the tip of the index finger. */
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IndexFingertip UMETA(DisplayName = "Index Fingertip"),
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};
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/* Tracking Hardware used for positional tracking. */
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@@ -279,9 +489,33 @@ enum class ESGSensorFormat : uint8
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Sensors UMETA(DisplayName = "Sensors"),
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};
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/* Sense Glove C string Variables, enumerated for our convenience. */
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UENUM(BlueprintType)
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enum class ESGSenseGloveCVar : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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ID UMETA(DisplayName = "ID"),
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GloveVersion UMETA(DisplayName = "Glove Version"),
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FirmwareVersion UMETA(DisplayName = "Firmware Version"),
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LeftRight UMETA(DisplayName = "Left Right"),
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Functions UMETA(DisplayName = "Functions"),
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GlovePos UMETA(DisplayName = "Glove Pos"),
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/* All gloves have functionality up to this point. */
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GloveLengths UMETA(DisplayName = "Glove Lengths"),
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NumberOfSensors UMETA(DisplayName = "Number Of Sensors"),
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ImuCorrection UMETA(DisplayName = "IMU Correction"),
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/* Utility value used in iteration / checking lengths. */
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AllC UMETA(DisplayName = "All C"),
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};
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/* Sense Glove sensor string Variables, enumerated for our convenience. */
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UENUM(BlueprintType)
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enum class ESGSVar : uint8
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enum class ESGSenseGloveSVar : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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@@ -303,40 +537,6 @@ enum class ESGSVar : uint8
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AllS UMETA(DisplayName = "All S"),
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};
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/* Anatomical movements of the thumb joints. */
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UENUM(BlueprintType)
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enum class ESGThumbMovement : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* Pronation/Supination of the first finger joint. */
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CmcTwist UMETA(DisplayName = "CMC Twist"),
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/* Flexion of the first finger joint. */
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CmcFlexion UMETA(DisplayName = "CMC Flexion"),
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/* Abduction of the first finger joint. */
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CmcAbduction UMETA(DisplayName = "CMC Abduction"),
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/* Flexion of the second thumb joint. */
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McpFlexion UMETA(DisplayName = "MCP Flexion"),
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/* Flexion of the third thumb joint. */
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IpFlexion UMETA(DisplayName = "IP Flexion"),
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};
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/* How this Sense Glove converts sensor data into a HandPose. */
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UENUM(BlueprintType)
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enum class ESGThumbSolver : uint8
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{
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/* The default none value. */
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None UMETA(DisplayName = "None"),
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/* Hand angles are interpolated based on the total flexion / abduction of the exoskeleton. */
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Interpolation UMETA(DisplayName = "Interpolation"),
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};
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/* A command to activate the SenseGlove Thumper module, which is responsible for wrist feedback. */
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UENUM(BlueprintType)
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enum class ESGSenseGloveThumperCommand : uint8
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@@ -373,4 +573,90 @@ enum class ESGSenseGloveThumperCommand : uint8
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/* A light vibration to cue the user that an object it picked up. 30% intensity. */
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ObjectGrasp30 UMETA(DisplayName = "Object Grasp 30"),
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};
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};
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/* The way handPoses are smoothed in this class. */
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UENUM(BlueprintType)
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enum class ESGSmoothingMethod : uint8
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{
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/**
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* None. You'll always get the latest pose received. No performance increase, but might result in a "stop-motion"
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* effect on lower frame-rates.
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*/
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None UMETA(DisplayName = "None"),
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/**
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* Pretend you're one sample behind, and interpolate along the exact paths. More accurate, but we will lag 1 frame
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* behind.
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||||
*/
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InterpolateBehind UMETA(DisplayName = "Interpolated Behind"),
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|
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/**
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* Take the last two handPoses and estimate the current values based on extrapolation. Is perceived as "faster",
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* but is more likely to overshoot during sudden changes in direction.
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||||
*/
|
||||
ExtrapolateAhead UMETA(DisplayName = "Extraplate Ahead"),
|
||||
};
|
||||
|
||||
/* Anatomical movements of the thumb joints. */
|
||||
UENUM(BlueprintType)
|
||||
enum class ESGThumbMovement : uint8
|
||||
{
|
||||
/* The default none value. */
|
||||
None UMETA(DisplayName = "None"),
|
||||
|
||||
/* Pronation/Supination of the first finger joint. */
|
||||
CmcTwist UMETA(DisplayName = "CMC Twist"),
|
||||
|
||||
/* Flexion of the first finger joint. */
|
||||
CmcFlexion UMETA(DisplayName = "CMC Flexion"),
|
||||
|
||||
/* Abduction of the first finger joint. */
|
||||
CmcAbduction UMETA(DisplayName = "CMC Abduction"),
|
||||
|
||||
/* Flexion of the second thumb joint. */
|
||||
McpFlexion UMETA(DisplayName = "MCP Flexion"),
|
||||
|
||||
/* Flexion of the third thumb joint. */
|
||||
IpFlexion UMETA(DisplayName = "IP Flexion"),
|
||||
};
|
||||
|
||||
/* How this Sense Glove converts sensor data into a HandPose. */
|
||||
UENUM(BlueprintType)
|
||||
enum class ESGThumbSolver : uint8
|
||||
{
|
||||
/* The default none value. */
|
||||
None UMETA(DisplayName = "None"),
|
||||
|
||||
/* Hand angles are interpolated based on the total flexion / abduction of the exoskeleton. */
|
||||
Interpolation UMETA(DisplayName = "Interpolation"),
|
||||
};
|
||||
|
||||
/* Waveform type for an advanced Buzz Command. */
|
||||
UENUM(BlueprintType)
|
||||
enum class ESGWaveformType : uint8
|
||||
{
|
||||
/* The default none value. */
|
||||
None UMETA(DisplayName = "None"),
|
||||
|
||||
/* We're not sure what type of Waveform to use. */
|
||||
Unknown UMETA(DisplayName = "Unknown"),
|
||||
|
||||
/* Smooth sine wave. */
|
||||
Sine UMETA(DisplayName = "Sine"),
|
||||
|
||||
/* Can shift duty Cycle. */
|
||||
Square UMETA(DisplayName = "Square"),
|
||||
|
||||
/* Inverse of SawDown. */
|
||||
SawUp UMETA(DisplayName = "Saw Up"),
|
||||
|
||||
/* Inverse of SawUp. */
|
||||
SawDown UMETA(DisplayName = "Saw Down"),
|
||||
|
||||
/* Triangle waveform. */
|
||||
Triangle UMETA(DisplayName = "Triangle"),
|
||||
|
||||
/* A random, noisy signal. */
|
||||
Noise UMETA(DisplayName = "Noise"),
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user