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d/ulv5: Rename internal variables/macros

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This commit is contained in:
Rylie Pavlik 2024-05-03 14:21:38 -05:00
parent 2b4bf6c166
commit 753ec613fc
1 changed files with 30 additions and 30 deletions
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60
src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp
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@ -168,70 +168,70 @@ ulv5_process_joint(LEAP_VECTOR joint_pos,
void
ulv5_process_hand(LEAP_HAND hand, struct ulv5_device *ulv5d, int handedness)
{
struct xrt_hand_joint_set dummy_joint_set;
struct xrt_hand_joint_set joint_set;
// gives access to individual joints of the joint_set
#define dummy_joint_set(y) &dummy_joint_set.values.hand_joint_set_default[XRT_HAND_JOINT_##y]
#define joint_set(y) &joint_set.values.hand_joint_set_default[XRT_HAND_JOINT_##y]
ulv5_process_joint(hand.palm.position, hand.palm.orientation, hand.palm.width, dummy_joint_set(PALM));
ulv5_process_joint(hand.palm.position, hand.palm.orientation, hand.palm.width, joint_set(PALM));
// wrist is the next_joint of the arm
ulv5_process_joint(hand.arm.next_joint, hand.arm.rotation, hand.arm.width, dummy_joint_set(WRIST));
ulv5_process_joint(hand.arm.next_joint, hand.arm.rotation, hand.arm.width, joint_set(WRIST));
// thumb
ulv5_process_joint(hand.thumb.proximal.prev_joint, hand.thumb.proximal.rotation, hand.thumb.proximal.width,
dummy_joint_set(THUMB_METACARPAL));
joint_set(THUMB_METACARPAL));
ulv5_process_joint(hand.thumb.intermediate.prev_joint, hand.thumb.intermediate.rotation,
hand.thumb.intermediate.width, dummy_joint_set(THUMB_PROXIMAL));
hand.thumb.intermediate.width, joint_set(THUMB_PROXIMAL));
ulv5_process_joint(hand.thumb.distal.prev_joint, hand.thumb.distal.rotation, hand.thumb.distal.width,
dummy_joint_set(THUMB_DISTAL));
joint_set(THUMB_DISTAL));
ulv5_process_joint(hand.thumb.distal.next_joint, hand.thumb.distal.rotation, hand.thumb.distal.width,
dummy_joint_set(THUMB_TIP));
joint_set(THUMB_TIP));
// index
ulv5_process_joint(hand.index.metacarpal.prev_joint, hand.index.metacarpal.rotation,
hand.index.metacarpal.width, dummy_joint_set(INDEX_METACARPAL));
hand.index.metacarpal.width, joint_set(INDEX_METACARPAL));
ulv5_process_joint(hand.index.proximal.prev_joint, hand.index.proximal.rotation, hand.index.proximal.width,
dummy_joint_set(INDEX_PROXIMAL));
joint_set(INDEX_PROXIMAL));
ulv5_process_joint(hand.index.intermediate.prev_joint, hand.index.intermediate.rotation,
hand.index.intermediate.width, dummy_joint_set(INDEX_INTERMEDIATE));
hand.index.intermediate.width, joint_set(INDEX_INTERMEDIATE));
ulv5_process_joint(hand.index.distal.prev_joint, hand.index.distal.rotation, hand.index.distal.width,
dummy_joint_set(INDEX_DISTAL));
joint_set(INDEX_DISTAL));
ulv5_process_joint(hand.index.distal.next_joint, hand.index.distal.rotation, hand.index.distal.width,
dummy_joint_set(INDEX_TIP));
joint_set(INDEX_TIP));
// middle
ulv5_process_joint(hand.middle.metacarpal.prev_joint, hand.middle.metacarpal.rotation,
hand.middle.metacarpal.width, dummy_joint_set(MIDDLE_METACARPAL));
hand.middle.metacarpal.width, joint_set(MIDDLE_METACARPAL));
ulv5_process_joint(hand.middle.proximal.prev_joint, hand.middle.proximal.rotation, hand.middle.proximal.width,
dummy_joint_set(MIDDLE_PROXIMAL));
joint_set(MIDDLE_PROXIMAL));
ulv5_process_joint(hand.middle.intermediate.prev_joint, hand.middle.intermediate.rotation,
hand.middle.intermediate.width, dummy_joint_set(MIDDLE_INTERMEDIATE));
hand.middle.intermediate.width, joint_set(MIDDLE_INTERMEDIATE));
ulv5_process_joint(hand.middle.distal.prev_joint, hand.middle.distal.rotation, hand.middle.distal.width,
dummy_joint_set(MIDDLE_DISTAL));
joint_set(MIDDLE_DISTAL));
ulv5_process_joint(hand.middle.distal.next_joint, hand.middle.distal.rotation, hand.middle.distal.width,
dummy_joint_set(MIDDLE_TIP));
joint_set(MIDDLE_TIP));
// ring
ulv5_process_joint(hand.ring.metacarpal.prev_joint, hand.ring.metacarpal.rotation, hand.ring.metacarpal.width,
dummy_joint_set(RING_METACARPAL));
joint_set(RING_METACARPAL));
ulv5_process_joint(hand.ring.proximal.prev_joint, hand.ring.proximal.rotation, hand.ring.proximal.width,
dummy_joint_set(RING_PROXIMAL));
joint_set(RING_PROXIMAL));
ulv5_process_joint(hand.ring.intermediate.prev_joint, hand.ring.intermediate.rotation,
hand.ring.intermediate.width, dummy_joint_set(RING_INTERMEDIATE));
hand.ring.intermediate.width, joint_set(RING_INTERMEDIATE));
ulv5_process_joint(hand.ring.distal.prev_joint, hand.ring.distal.rotation, hand.ring.distal.width,
dummy_joint_set(RING_DISTAL));
joint_set(RING_DISTAL));
ulv5_process_joint(hand.ring.distal.next_joint, hand.ring.distal.rotation, hand.ring.distal.width,
dummy_joint_set(RING_TIP));
joint_set(RING_TIP));
// pinky
ulv5_process_joint(hand.pinky.metacarpal.prev_joint, hand.pinky.metacarpal.rotation,
hand.pinky.metacarpal.width, dummy_joint_set(LITTLE_METACARPAL));
hand.pinky.metacarpal.width, joint_set(LITTLE_METACARPAL));
ulv5_process_joint(hand.pinky.proximal.prev_joint, hand.pinky.proximal.rotation, hand.pinky.proximal.width,
dummy_joint_set(LITTLE_PROXIMAL));
joint_set(LITTLE_PROXIMAL));
ulv5_process_joint(hand.pinky.intermediate.prev_joint, hand.pinky.intermediate.rotation,
hand.pinky.intermediate.width, dummy_joint_set(LITTLE_INTERMEDIATE));
hand.pinky.intermediate.width, joint_set(LITTLE_INTERMEDIATE));
ulv5_process_joint(hand.pinky.distal.prev_joint, hand.pinky.distal.rotation, hand.pinky.distal.width,
dummy_joint_set(LITTLE_DISTAL));
joint_set(LITTLE_DISTAL));
ulv5_process_joint(hand.pinky.distal.next_joint, hand.pinky.distal.rotation, hand.pinky.distal.width,
dummy_joint_set(LITTLE_TIP));
joint_set(LITTLE_TIP));
// copy over to ulv5d joint set
os_thread_helper_lock(&ulv5d->oth);
memcpy(&ulv5d->joint_set[handedness], &dummy_joint_set, sizeof(struct xrt_hand_joint_set));
memcpy(&ulv5d->joint_set[handedness], &joint_set, sizeof(struct xrt_hand_joint_set));
os_thread_helper_unlock(&ulv5d->oth);
}
@ -339,4 +339,4 @@ ulv5_create_device(struct xrt_device **out_xdev)
return XRT_SUCCESS;
}
} // extern "C"
} // extern "C"