319 lines
10 KiB
C++
319 lines
10 KiB
C++
/**
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* @file
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*
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* @author Mamadou Babaei <mamadou@senseglove.com>
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*
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* @section LICENSE
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*
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* (The MIT License)
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*
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* Copyright (c) 2020 - 2022 SenseGlove
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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* @section DESCRIPTION
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*
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* Glove information taken from the Sense Glove.
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*/
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#pragma once
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#include "Containers/Array.h"
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#include "Containers/UnrealString.h"
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#include "HAL/Platform.h"
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#include "UObject/Object.h"
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#include "UObject/ObjectMacros.h"
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#include "SGCore/SGVectorArray.h"
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#include "SGUtils/SGArrayUtils.h"
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#include "SGTypes/SGCoreTypes.h"
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#include "SGSenseGloveInfo.generated.h"
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class FSGSenseGloveInfoImpl;
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/**
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* Glove Information taken from a SenseGlove. Contains everything from unique ID, firmware version, etc.
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*/
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UCLASS(BlueprintType)
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class SENSEGLOVECORE_API USGSenseGloveInfo final : public UObject
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{
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GENERATED_BODY()
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public:
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static USGSenseGloveInfo* NewSenseGloveInfo(
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UObject* Outer, const FSGSenseGloveInfoImpl& SenseGloveInfoImpl);
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public:
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/**
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* The default constructor.
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*/
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static USGSenseGloveInfo* NewSenseGloveInfo(UObject* Outer);
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/**
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* Create a new Sense Glove device model.
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*/
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static USGSenseGloveInfo* NewSenseGloveInfo(
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UObject* Outer, const FString& DeviceId,
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const FString& HardwareVersion, int32 FirmwareVersion, int32 SubFirmwareVersion,
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bool bRightHanded, int32 NumberOfSensors, const FQuat& ImuCorrection,
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const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations,
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const TArray<TArray<FVector>>& GloveLengths, const TArray<bool>& Functions);
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/**
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* Create a new Sense Glove device model.
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*/
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static USGSenseGloveInfo* NewSenseGloveInfo(
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UObject* Outer, const FString& DeviceId,
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const FString& HardwareVersion, int32 FirmwareVersion, int32 SubFirmwareVersion,
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bool bRightHanded, int32 NumberOfSensors, const FRotator& ImuCorrection,
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const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations,
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const TArray<TArray<FVector>>& GloveLengths, const TArray<bool>& Functions);
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/**
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* Create a new Sense Glove device model.
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*/
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static USGSenseGloveInfo* NewSenseGloveInfo(
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UObject* Outer, const FString& DeviceId,
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const FString& HardwareVersion, int32 FirmwareVersion, int32 SubFirmwareVersion,
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bool bRightHanded, int32 NumberOfSensors, const FQuat& ImuCorrection,
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const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations,
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const TArray<FSGVectorArray>& GloveLengths, const TArray<bool>& Functions);
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/**
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* Create a new Sense Glove device model.
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*/
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static USGSenseGloveInfo* NewSenseGloveInfo(
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UObject* Outer, const FString& DeviceId,
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const FString& HardwareVersion, int32 FirmwareVersion, int32 SubFirmwareVersion,
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bool bRightHanded, int32 NumberOfSensors, const FRotator& ImuCorrection,
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const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations,
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const TArray<FSGVectorArray>& GloveLengths, const TArray<bool>& Functions);
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public:
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/**
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* Create an instance of the SGModel from its string representation.
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*/
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static bool Parse(UObject* Outer, const FString& ConstantsString, USGSenseGloveInfo*& OutGloveInfo,
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bool bUpdateOldModels = true);
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/**
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* Deserialize a HandProfile back into usable values.
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*/
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static USGSenseGloveInfo* Deserialize(UObject* Outer, const FString& SerializedString);
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private:
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struct FImpl;
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struct FImplDeleter
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{
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void operator()(const FImpl* P) const;
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};
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TUniquePtr<FImpl, FImplDeleter> Pimpl;
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FImplDeleter PimplDeleter;
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public:
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/**
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* The default constructor.
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*/
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USGSenseGloveInfo();
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/**
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* Create a new Sense Glove device model.
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*/
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USGSenseGloveInfo(const FString& DeviceId,
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const FString& HardwareVersion, int32 FirmwareVersion, int32 SubFirmwareVersion,
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bool bRightHanded, int32 NumberOfSensors, const FQuat& ImuCorrection,
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const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations,
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const TArray<TArray<FVector>>& GloveLengths, const TArray<bool>& Functions);
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/**
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* Create a new Sense Glove device model.
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*/
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USGSenseGloveInfo(const FString& DeviceId,
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const FString& HardwareVersion, int32 FirmwareVersion, int32 SubFirmwareVersion,
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bool bRightHanded, int32 NumberOfSensors, const FRotator& ImuCorrection,
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const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations,
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const TArray<TArray<FVector>>& GloveLengths, const TArray<bool>& Functions);
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/**
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* Create a new Sense Glove device model.
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*/
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USGSenseGloveInfo(const FString& DeviceId,
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const FString& HardwareVersion, int32 FirmwareVersion, int32 SubFirmwareVersion,
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bool bRightHanded, int32 NumberOfSensors, const FQuat& ImuCorrection,
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const TArray<FVector>& StartPositions, const TArray<FQuat>& StartRotations,
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const TArray<FSGVectorArray>& GloveLengths, const TArray<bool>& Functions);
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/**
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* Create a new Sense Glove device model.
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*/
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USGSenseGloveInfo(const FString& DeviceId,
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const FString& HardwareVersion, int32 FirmwareVersion, int32 SubFirmwareVersion,
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bool bRightHanded, int32 NumberOfSensors, const FRotator& ImuCorrection,
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const TArray<FVector>& StartPositions, const TArray<FRotator>& StartRotations,
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const TArray<FSGVectorArray>& GloveLengths, const TArray<bool>& Functions);
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public:
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/**
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* The cast from underlying type constructor.
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*/
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explicit USGSenseGloveInfo(const FSGSenseGloveInfoImpl& SenseGloveInfoImpl);
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public:
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/**
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* The destructor.
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*/
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virtual ~USGSenseGloveInfo() override;
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protected:
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/**
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* Allows to set the underlying object after construction.
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*/
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void SetSenseGloveInfoImpl(const FSGSenseGloveInfoImpl& SenseGloveInfoImpl);
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public:
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/**
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* The cast to underlying type method.
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*/
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const FSGSenseGloveInfoImpl& ToSenseGloveInfoImpl() const;
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protected:
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/**
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* The non-const cast to underlying type method.
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*/
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FSGSenseGloveInfoImpl& ToSenseGloveInfoImpl();
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public:
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/**
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* Unique identifier of this device.
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*/
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FString GetDeviceId() const;
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/**
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* Hardware (sub) version of this Sense Glove Device.
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*/
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FString GetHardwareVersion() const;
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/**
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* Firmware version running on the device's MicroController.
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*/
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int32 GetFirmwareVersion() const;
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/**
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* Sub-Firmware version running on the device's MicroController.
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*/
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int32 GetSubFirmwareVersion() const;
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/**
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* Check if this Sense Glove belongs to a left or right hand.
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*/
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bool IsRight() const;
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/**
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* The number of Sensors in this SenseGlove.
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*/
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int32 GetNumberOfSensors() const;
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/**
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* The IMU correction of this Sense Glove.
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*/
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FQuat GetImuCorrectionQ() const;
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/**
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* The IMU correction of this Sense Glove.
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*/
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FRotator GetImuCorrection() const;
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/**
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* The starting positions of each Sense Glove finger, relative to the glove origin.
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*/
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TArray<FVector> GetStartPositions() const;
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/**
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* The starting rotations of each Sense Glove finger, relative to the glove origin.
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*/
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TArray<FQuat> GetStartRotationsQ() const;
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/**
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* The starting rotations of each Sense Glove finger, relative to the glove origin.
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*/
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TArray<FRotator> GetStartRotations() const;
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/**
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* The lengths of each Sense Glove finger section, in cm.
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*/
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TArray<TArray<FVector>> GetGloveLengths() const;
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/**
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* Whether this device has a specific function (T/F).
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*/
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TArray<bool> GetFunctions() const;
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public:
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/**
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* The starting position of one Sense Glove finger, relative to the glove origin.
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*/
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FVector GetStartPosition(ESGFinger Finger) const;
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/**
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* The starting rotation of one Sense Glove finger, relative to the glove origin.
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*/
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FQuat GetStartRotationQ(ESGFinger Finger) const;
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/**
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* The starting rotation of one Sense Glove finger, relative to the glove origin.
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*/
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FRotator GetStartRotation(ESGFinger Finger) const;
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/**
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* The lengths of one Sense Glove finger's sections, in cm.
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*/
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TArray<FVector> GetGloveLengths(ESGFinger Finger) const;
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public:
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/**
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* Place incoming sensor data into the right format, according to this glove's model.
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*/
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TArray<TArray<FVector>> ToGloveAngles(const TArray<TArray<float>>& SensorAngles) const;
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/**
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* Returns true if this SG_Model has the same values as another.
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*/
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bool Equals(const USGSenseGloveInfo* SenseGloveInfo) const;
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public:
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/**
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* Create a string representation for logging. If shortNotation is false, all values are reported.
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*/
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FString ToString() const;
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/**
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* Create a string representation for fast logging.
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*/
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FString ToString(bool bShortNotation) const;
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/**
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* Serialize this HandProfile into a string representation.
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*/
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FString SGSerialize() const;
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};
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