Gesture API

Files
file	arm_gesture_command.h

Classes
class	GestureClass
struct	GestureTypes
	the structure of gesture type. More...
struct	GestureDebugDumpInfo
struct	SensorInitGesture
	the structure of gesture type for initilaize. More...
struct	GestureSetRotation
	Rotation matrix. Assume x_adjusted, y_adjusted, z_adjusted as adjusted x, y, z acceleration value accordingly. As well, x_sensor, y_sensor, z_sensor are defined as original x, y, z value from sensor accordingly. x_adjusted, y_adjusted and z_adjusted are calculated as follows: x_adjusted = x_sensor * xx + y_sensor * xy + z_sensor * xz; y_adjusted = x_sensor * yx + y_sensor * yy + z_sensor * yz; z_adjusted = x_sensor * zx + y_sensor * zy + z_sensor * zz;. More...
struct	SensorExecGesture
	the struct of gesture for the execute command. More...
struct	SensorFlushGesture
	the command of gesture terminate. More...
struct	SensorResultArmGesture
	the structure of sensor result on arm gesture commands. More...
struct	SensorCmdArmGesture
	the structure of arm gesture commands. More...

Macros
#define	GESTURE_ARM_UP   0x00000001
	ID for ARM_UP event, also used for setting arm state.
#define	GESTURE_ARM_DOWN   0x00000002
	ID for ARM_DOWN event, also used for setting arm state.
#define	GESTURE_TWIST   0x00000004
	ID for TWIST event.
#define	GESTURE_SHAKE   0x00000010
	ID for SHAKE event.

Enumerations
enum	GestureArmPosition { GESTURE_POS_UP = 0 , GESTURE_POS_DOWN }
	Arm positions. More...
enum	GestureCmdType { GESTURE_CMD_SET_TYPE = 0 , GESTURE_CMD_GET_TYPE , GESTURE_CMD_SET_ARM_POSITION , GESTURE_CMD_ROTATION }
	Publishers. More...

Functions
FAR GestureClass *	GestureCreate (MemMgrLite::PoolId cmd_pool_id)
	Create GestureClass instance. More...
int	GestureOpen (FAR GestureClass *ins)
	Load Gesture library and boot up as worker task. After booted up, send initialize and wait complete. More...
int	GestureClose (FAR GestureClass *ins)
	Destory Gesture worker task. More...
int	GestureWrite (FAR GestureClass *ins, FAR sensor_command_data_mh_t *command)
	Send data to Gesture worker task. More...
int	GestureSetCoordinate (FAR GestureClass *ins, FAR GestureSetRotation *rotation)
	Set Gesture coordinate. More...

Detailed Description

Enumeration Type Documentation

GestureArmPosition

enum GestureArmPosition

Arm positions.

Enumerator
GESTURE_POS_UP	Arm position is up.
GESTURE_POS_DOWN	Arm position is down.

GestureCmdType

enum GestureCmdType

Publishers.

Enumerator
GESTURE_CMD_SET_TYPE	Reconfiguration after initialization.
GESTURE_CMD_GET_TYPE	Get gesture type.
GESTURE_CMD_SET_ARM_POSITION	Set arm position. Unusable in SDK 2.0.
GESTURE_CMD_ROTATION	Rotation. Unusable in SDK 2.0.

Function Documentation

GestureCreate()

FAR GestureClass * GestureCreate

(

MemMgrLite::PoolId

cmd_pool_id

)

Create GestureClass instance.

Parameters

[in]

cmd_pool_id

: Pool id for DSP communication data

Returns

Address for instance of GestureClass

GestureOpen()

int GestureOpen

(

FAR GestureClass *

ins

)

Load Gesture library and boot up as worker task. After booted up, send initialize and wait complete.

Parameters

[in]

ins

: instance address of GestureClass

Returns

result of process.

GestureClose()

int GestureClose

(

FAR GestureClass *

ins

)

Destory Gesture worker task.

Parameters

[in]

ins

: instance address of GestureClass

Returns

result of process.

GestureWrite()

int GestureWrite	(	FAR GestureClass *	ins,
		FAR sensor_command_data_mh_t *	command
	)

Send data to Gesture worker task.

Parameters

[in]	ins	: instance address of GestureClass
[in]	command	: command including data to send

Returns

result of process

GestureSetCoordinate()

int GestureSetCoordinate	(	FAR GestureClass *	ins,
		FAR GestureSetRotation *	rotation
	)

Set Gesture coordinate.

Parameters

[in]	ins	: instance address of GestureClass
[in]	rotation	: coordinate transformation matrix

Returns

result of process