Kinect Class Reference

#include <Kinect.h>

Inheritance diagram for Kinect:

Collaboration diagram for Kinect:

Classes
struct	Point4

Public Types
enum	SkeletonTrackingState { kNotTracked, kPositionOnly, kTracked }
enum	SkeletonQuality { kClippedRight = 1, kClippedLeft = 2, kClippedTop = 4, kClippedBottom = 8 }

Public Member Functions
int	GetNumberOfPlayers ()
Point4	GetFloorClipPlane ()
Point4	GetGravityNormal ()
Skeleton	GetSkeleton (int skeletonIndex=1)
Point4	GetPosition (int skeletonIndex=1)
UINT32	GetQuality (int skeletonIndex=1)
SkeletonTrackingState	GetTrackingState (int skeletonIndex=1)
Public Member Functions inherited from SensorBase
	SensorBase ()
virtual	~SensorBase ()
Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.
virtual const Error &	GetError () const
virtual void	SetErrnoError (const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable.
virtual void	SetImaqError (int success, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated from the nivision Imaq API.
virtual void	SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated with this sensor.
virtual void	SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated with this sensor.
virtual void	CloneError (ErrorBase *rhs) const
virtual void	ClearError () const
	Clear the current error information associated with this sensor.
virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error.

Static Public Member Functions
static Kinect *	GetInstance ()
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()
static UINT32	GetDefaultAnalogModule ()
static UINT32	GetDefaultDigitalModule ()
static UINT32	GetDefaultSolenoidModule ()
static bool	CheckAnalogModule (UINT8 moduleNumber)
static bool	CheckDigitalModule (UINT8 moduleNumber)
static bool	CheckPWMModule (UINT8 moduleNumber)
static bool	CheckRelayModule (UINT8 moduleNumber)
static bool	CheckSolenoidModule (UINT8 moduleNumber)
static bool	CheckDigitalChannel (UINT32 channel)
static bool	CheckRelayChannel (UINT32 channel)
static bool	CheckPWMChannel (UINT32 channel)
static bool	CheckAnalogChannel (UINT32 channel)
static bool	CheckSolenoidChannel (UINT32 channel)
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber)
static void	SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber)
static Error &	GetGlobalError ()

Additional Inherited Members
Static Public Attributes inherited from SensorBase
static const UINT32	kSystemClockTicksPerMicrosecond = 40
static const UINT32	kDigitalChannels = 14
static const UINT32	kAnalogChannels = 8
static const UINT32	kAnalogModules = 2
static const UINT32	kDigitalModules = 2
static const UINT32	kSolenoidChannels = 8
static const UINT32	kSolenoidModules = 2
static const UINT32	kPwmChannels = 10
static const UINT32	kRelayChannels = 8
static const UINT32	kChassisSlots = 8
Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()
Protected Attributes inherited from ErrorBase
Error	m_error
Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE)
static Error	_globalError

Detailed Description

Handles raw data input from the FRC Kinect Server when used with a Kinect device connected to the Driver Station. Each time a value is requested the most recent value is returned. See Getting Started with Microsoft Kinect for FRC and the Kinect for Windows SDK API reference for more information

Definition at line 24 of file Kinect.h.

Member Function Documentation

Kinect::Point4 Kinect::GetFloorClipPlane

(

)

Get the floor clip plane as defined in the Kinect SDK

Returns

The floor clip plane

Definition at line 63 of file Kinect.cpp.

Kinect::Point4 Kinect::GetGravityNormal

(

)

Get the gravity normal from the kinect as defined in the Kinect SDK

Returns

The gravity normal (w is ignored)

Definition at line 73 of file Kinect.cpp.

Kinect * Kinect::GetInstance ( )

static

Get the one and only Kinect object

Returns

pointer to a Kinect

Definition at line 42 of file Kinect.cpp.

int Kinect::GetNumberOfPlayers

(

)

Get the number of tracked players on the Kinect

Returns

the number of players being actively tracked

Definition at line 53 of file Kinect.cpp.

Kinect::Point4 Kinect::GetPosition

(

int

skeletonIndex = 1

)

Get the current position of the skeleton

Parameters

skeletonIndex

the skeleton to read from

Returns

the current position as defined in the Kinect SDK (w is ignored)

Definition at line 102 of file Kinect.cpp.

UINT32 Kinect::GetQuality

(

int

skeletonIndex = 1

)

Get the quality of the skeleton. Quality masks are defined in the SkeletonQuality enum

Parameters

skeletonIndex

the skeleton to read from

Returns

the quality value as defined in the Kinect SDK

Definition at line 119 of file Kinect.cpp.

Skeleton Kinect::GetSkeleton

(

int

skeletonIndex = 1

)

Get the skeleton data Returns the detected skeleton data from the kinect as defined in the Kinect SDK

Parameters

skeletonIndex

Which of (potentially 2) skeletons to return. This is ignored in this implementation and only a single skeleton is supported for the FRC release default gesture interpretation.

Returns

The current version of the skeleton object.

Definition at line 86 of file Kinect.cpp.

Kinect::SkeletonTrackingState Kinect::GetTrackingState

(

int

skeletonIndex = 1

)

Get the TrackingState of the skeleton. Tracking states are defined in the SkeletonTrackingState enum

Parameters

skeletonIndex

the skeleton to read from

Returns

the tracking state value as defined in the Kinect SDK

Definition at line 136 of file Kinect.cpp.

---

The documentation for this class was generated from the following files:

• Kinect.h
• Kinect.cpp