// Update is called once per frame
void Update()
{
manus_hand_t leftHand;
manus_hand_t rightHand;
// if the retrieval of the handdata is succesfull update the local value and wether the hand is closed
if (Manus.ManusGetHand(session, device_type_t.GLOVE_LEFT, out leftHand) == manus_ret_t.MANUS_SUCCESS)
{
_leftHand = leftHand;
UpdateCloseValue(AverageFingerValue(_leftHand), device_type_t.GLOVE_LEFT);
//Debug.Log(_leftHand.raw.finger_sensor[0]);
//Debug.Log(_leftHand.wrist.x + " " + _leftHand.wrist.y + " " + _leftHand.wrist.z + " " + _leftHand.wrist.w);
++counter;
// if ((counter % 10) == 0) {
srl.WriteLine(DateTime.Now.ToString("yyyy-MM-ddThh:mm:ss:ffff") + " " + _leftHand.wrist.x + " " + _leftHand.wrist.y + " " + _leftHand.wrist.z + " " + _leftHand.wrist.w + " " + _leftHand.raw.finger_sensor[0] + " " + _leftHand.raw.finger_sensor[1] + " " + _leftHand.raw.finger_sensor[2] + " " + _leftHand.raw.finger_sensor[3] + " " + _leftHand.raw.finger_sensor[4] + _leftHand.raw.finger_sensor[5] + " " + _leftHand.raw.finger_sensor[6] + " " + _leftHand.raw.finger_sensor[7] + " " + _leftHand.raw.finger_sensor[8] + " " + _leftHand.raw.finger_sensor[9]);
//}
}
if (Manus.ManusGetHand(session, device_type_t.GLOVE_RIGHT, out rightHand) == manus_ret_t.MANUS_SUCCESS)
{
_rightHand = rightHand;
UpdateCloseValue(AverageFingerValue(_rightHand), device_type_t.GLOVE_RIGHT);
srr.WriteLine(DateTime.Now.ToString("yyyy-MM-ddThh:mm:ss:ffff") + " " + _rightHand.wrist.x + " " + _rightHand.wrist.y + " " + _rightHand.wrist.z + " " + _rightHand.wrist.w + " " + _rightHand.raw.finger_sensor[0] + " " + _rightHand.raw.finger_sensor[1] + " " + _rightHand.raw.finger_sensor[2] + " " + _rightHand.raw.finger_sensor[3] + " " + _rightHand.raw.finger_sensor[4] + _rightHand.raw.finger_sensor[5] + " " + _rightHand.raw.finger_sensor[6] + " " + _rightHand.raw.finger_sensor[7] + " " + _rightHand.raw.finger_sensor[8] + " " + _rightHand.raw.finger_sensor[9]);
}
}
/// <summary>
/// Get the average value of all fingers combined on the given hand
/// </summary>
/// <param name="hand"></param>
/// <returns></returns>
private double AverageFingerValue(manus_hand_t hand)
{
int sensors = 0;
double total = 0;
// Loop through all of the finger values
for (int bendPosition = 0; bendPosition < 10; bendPosition++)
{
// Only get the sensor values of the first bending point without the thumb (1,3,5,7)
if (bendPosition < 8)
{
sensors++;
total += hand.raw.finger_sensor[bendPosition];
}
}
return(total / sensors);
}
public static extern manus_ret_t ManusGetHand_id(manus_session_t session, UInt32 dongle_id, device_type_t device_type, out manus_hand_t out_hand);
public static extern manus_ret_t ManusGetHand(manus_session_t session, device_type_t device_type, out manus_hand_t out_hand);
