114 lines
3.4 KiB
C++
114 lines
3.4 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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* Hard-Coded Database that is used in calibration and in solving.
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* Values herein are used to limit outputs within 'natural' ranges.
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*/
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#pragma once
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#include "Containers/Array.h"
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#include "HAL/Platform.h"
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#include "Math/Vector.h"
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#include "SGAnatomy.generated.h"
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/**
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* "Database" of anatomical values, such as joint limits.
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*/
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USTRUCT()
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struct SENSEGLOVECORE_API FSGAnatomy
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{
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GENERATED_BODY()
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public:
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/**
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* Total sum of all finger flexion that would be considered "total flexion".
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*/
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static float GetTotalFingerFlexion();
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/**
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* Total sum of all finger flexion that would be considered "total extension".
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*/
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static float GetTotalFingerExtension();
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/**
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* Total sum of all thumb flexion that would be considered "total flexion".
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*/
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static float GetTotalThumbFlexion();
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/**
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* Total sum of all thumb flexion that would be considered "total extension".
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*/
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static float GetTotalThumbExtension();
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/**
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* Retrieve one of the limits of a finger joint's movement.
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*/
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static float GetFingerJointLimit(bool bRightHanded, int32 Joint, int32 Movement, bool bMax);
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/**
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* Retrieve one of the limits of a thumb joint's movement.
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*/
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static float GetThumbJointLimit(bool bRightHanded, int32 Joint, int32 Movement, bool bMax);
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/**
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* Convert a total finger flexion in radians into a 0..1 representation.
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*/
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static float NormalizeFingerFlexion(float FlexionInRadians);
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/**
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* Convert a total thumb flexion in radians into a 0..1 representation.
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*/
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static float NormalizeThumbFlexion(float FlexionInRadians);
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/**
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* Get Hand Angles that would make a Default (Idle) Pose.
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*/
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static TArray<TArray<FVector>> GetDefaultHandAngles(bool bRightHanded);
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/**
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* Get Hand Angles that would make a flat hand.
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*/
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static TArray<TArray<FVector>> GetFlatHandAngles(bool bRightHanded);
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/**
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* Get hand angles that would make a thumbs up.
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*/
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static TArray<TArray<FVector>> GetThumbsUpHandAngles(bool bRightHanded);
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/**
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* Get Hand Angles that would make a fist.
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*/
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static TArray<TArray<FVector>> GetFistHandAngles(bool bRightHanded);
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};
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