Classes
class	HermesSDK::CareTaker

struct	HermesSDK::ErrorMessage

class	HermesSDK::Hive

Typedefs
typedef std::function< void(const Hermes::Protocol::Devices &_devices)>	HermesSDK::deviceDataCallback
	Typedef to support callback for device data.

typedef std::function< void(const Hermes::Protocol::Hardware::DeviceLandscape &_landscape)>	HermesSDK::deviceLandscapeCallback
	Typedef to support callback for landscape (connected devices) data.

typedef std::function< void(const Hermes::Protocol::Polygon::Data &_data)>	HermesSDK::polygonDataCallback
	Typedef to support callback for Polygon data.

typedef std::function< void(const Hermes::Protocol::TrackerData &_data)>	HermesSDK::trackingDataCallback
	Typedef to support callback for tracking data.

typedef std::function< void(Hermes::Protocol::Pipeline &_pipeline)>	HermesSDK::filterSetupCallback
	Typedef to support callback for filter pipeline data.

typedef std::function< void(const ErrorMessage &msg)>	HermesSDK::errorMessageCallback
	Typedef to support callback for error messages.

typedef std::function< void(void)>	HermesSDK::connectedToCoreCallback
	Typedef to support callback on connect to manus core.

typedef std::function< void(void)>	HermesSDK::disconnectedFromCoreCallback
	Typedef to support callback on disconnect from manus core.

typedef std::function< void(Hermes::Protocol::HiveNode _node)>	HermesSDK::hiveNodeCallback

Enumerations
enum	HermesSDK::ErrorCodes : int { HermesSDK::ErrorCodes::failed_hard_login_could_not_connect, HermesSDK::ErrorCodes::failed_hard_logout_status, HermesSDK::ErrorCodes::failed_hard_get_filter_inventory, HermesSDK::ErrorCodes::failed_hard_to_get_active_pipeline, HermesSDK::ErrorCodes::failed_hard_to_set_currently_active_pipeline, HermesSDK::ErrorCodes::failed_hard_connect_to_data_publisher, HermesSDK::ErrorCodes::failed_hard_connect_to_landscape_publisher, HermesSDK::ErrorCodes::failed_hard_connect_to_polygon_publisher, HermesSDK::ErrorCodes::failed_hard_connect_to_tracking_data_publisher, HermesSDK::ErrorCodes::error_generic, HermesSDK::ErrorCodes::failed_soft_rumble, HermesSDK::ErrorCodes::failed_soft_sending_message_through_haptics_socket, HermesSDK::ErrorCodes::failed_soft_heartbeat_to_get_time, HermesSDK::ErrorCodes::failed_soft_heartbeat_status, HermesSDK::ErrorCodes::failed_soft_to_parse_wrapped_devices, HermesSDK::ErrorCodes::failed_soft_to_parse_wrapped_polygon, HermesSDK::ErrorCodes::failed_soft_to_parse_wrapped_tracking_data, HermesSDK::ErrorCodes::failed_soft_get_all_players, HermesSDK::ErrorCodes::failed_soft_update_trackers, HermesSDK::ErrorCodes::failed_soft_add_polygon_skeleton, HermesSDK::ErrorCodes::failed_soft_remove_polygon_skeleton, HermesSDK::ErrorCodes::failed_soft_set_polygon_skeleton_target, HermesSDK::ErrorCodes::failed_soft_set_polygon_retargeting_settings, HermesSDK::ErrorCodes::failed_soft_add_target_skeleton, HermesSDK::ErrorCodes::failed_soft_remove_target_skeleton, HermesSDK::ErrorCodes::failed_soft_update_target_skeleton, HermesSDK::ErrorCodes::failed_soft_check_polygon_version }

Functions
void	HermesSDK::GetSdkAndCoreVersion (Hermes::Protocol::Version &_sdkVersion, Hermes::Protocol::Version &_coreVersion)

void	HermesSDK::ConnectLocal (const std::string &_clientName, const std::string &_clientInfo, HermesSDK::filterSetupCallback &_onFilterSetup, HermesSDK::deviceDataCallback &_onDeviceData, HermesSDK::deviceLandscapeCallback &_onDeviceLandscape, HermesSDK::polygonDataCallback &_onPolygonData, HermesSDK::trackingDataCallback &_onTrackingData, HermesSDK::errorMessageCallback &_onError, HermesSDK::connectedToCoreCallback &_onConnectedToCore, HermesSDK::disconnectedFromCoreCallback &_onDisconnectedFromCore)

void	HermesSDK::FindNetworkHosts (HermesSDK::filterSetupCallback &_onFilterSetup, HermesSDK::deviceDataCallback &_onDeviceData, HermesSDK::deviceLandscapeCallback &_onDeviceLandscape, HermesSDK::polygonDataCallback &_onPolygonData, HermesSDK::trackingDataCallback &_onTrackingData, HermesSDK::errorMessageCallback &_onError, HermesSDK::connectedToCoreCallback &_onConnectedToCore, HermesSDK::disconnectedFromCoreCallback &_onDisconnectedFromCore)

void	HermesSDK::ConnectNetworkHostName (const std::string &_clientName, const std::string &_clientInfo, const std::string &_hostName, HermesSDK::filterSetupCallback &_onFilterSetup, HermesSDK::deviceDataCallback &_onDeviceData, HermesSDK::deviceLandscapeCallback &_onDeviceLandscape, HermesSDK::polygonDataCallback &_onPolygonData, HermesSDK::trackingDataCallback &_onTrackingData, HermesSDK::errorMessageCallback &_onError, HermesSDK::connectedToCoreCallback &_onConnectedToCore, HermesSDK::disconnectedFromCoreCallback &_onDisconnectedFromCore)

void	HermesSDK::ConnectNetworkAddress (const std::string &_clientName, const std::string &_clientInfo, const std::string &_address, HermesSDK::filterSetupCallback &_onFilterSetup, HermesSDK::deviceDataCallback &_onDeviceData, HermesSDK::deviceLandscapeCallback &_onDeviceLandscape, HermesSDK::polygonDataCallback &_onPolygonData, HermesSDK::trackingDataCallback &_onTrackingData, HermesSDK::errorMessageCallback &_onError, HermesSDK::connectedToCoreCallback &_onConnectedToCore, HermesSDK::disconnectedFromCoreCallback &_onDisconnectedFromCore)

bool	HermesSDK::VibrateWrist (uint32_t _deviceId, float _unitStrength, uint16_t _durationInMilliseconds)

bool	HermesSDK::VibrateFingers (uint32_t _dongleId, Hermes::Protocol::HandType _handType, const std::array< float, 5 > &_powers)

void	HermesSDK::Stop ()

bool	HermesSDK::IsRunning ()

bool	HermesSDK::GetFilterInventory (Hermes::Protocol::FilterInventory &_inventory)

Hermes::Protocol::Pipeline *	HermesSDK::GetActivePipeline ()

bool	HermesSDK::SetPipeline (Hermes::Protocol::Pipeline *_pipeline)

std::map< std::string, std::string >	HermesSDK::GetFoundHosts ()

LeafInfo	HermesSDK::GetLeafInfo (Hermes::Protocol::Hardware::DeviceLeaf &leaf)

bool	HermesSDK::GetAllUsers (Hermes::Protocol::UserCollection &_userCollection)

bool	HermesSDK::UpdateTrackers (const Hermes::Protocol::TrackerData &_trackerData)

bool	HermesSDK::AddOrUpdatePolygonSkeleton (Hermes::Protocol::Polygon::Skeleton _skeleton)

bool	HermesSDK::RemovePolygonSkeleton (Hermes::Protocol::Polygon::RemoveSkeletonArgs _Args)

bool	HermesSDK::SetSkeletonTarget (Hermes::Protocol::Polygon::SetTargetArgs &_Args)

bool	HermesSDK::SetSkeletonSettings (Hermes::Protocol::Polygon::Retargeting::SettingsArgs &_Args)

bool	HermesSDK::AddTargetSkeleton (Hermes::Protocol::Polygon::TargetSkeleton &_Skeleton)

bool	HermesSDK::RemoveTargetSkeleton (std::string &_Name)

void	HermesSDK::UpdateTargetSkeleton (Hermes::Protocol::Polygon::TargetSkeleton &_Skeleton)

bool	HermesSDK::CheckIfPolygonVersionIsCompatible (Hermes::Protocol::Polygon::Version _Version)

Detailed Description

Enumeration Type Documentation

◆ ErrorCodes

enum HermesSDK::ErrorCodes : int

strong

We have two types of errorcode (maybe more in the FUTURE) hard errors that will break the system and need to be addressed immediately soft errors that wont break the system

Enumerator
failed_hard_login_could_not_connect	Could not connect during login, check network settings.
failed_hard_logout_status	Could not log out.
failed_hard_get_filter_inventory	Failed to get list of filters. Is system installed correctly?
failed_hard_to_get_active_pipeline	Failed to get active pipeline. Is system set up correctly?
failed_hard_to_set_currently_active_pipeline	Failed to set currently active pipeline.
failed_hard_connect_to_data_publisher	Failed communication with data publisher. Failing device connection?
failed_hard_connect_to_landscape_publisher	Failed communication with landscape publisher. Failing device connection?
failed_hard_connect_to_polygon_publisher	Failed communication with Polygon publisher. Failing device connection?
failed_hard_connect_to_tracking_data_publisher	Failed communication with tracking data publisher. Failing device connection?
error_generic	For self generated errors that are not defined by this list. Normally a string will accompany this error for clarification.
failed_soft_rumble	Failed to process rumble command.
failed_soft_sending_message_through_haptics_socket	Haptics communication failure.
failed_soft_heartbeat_to_get_time	Couldn't parse the time from the heartbeat (usually means we are missing a heartbeat).
failed_soft_heartbeat_status	Missing heartbeat. After a few misses we can consider the device dead/MIA.
failed_soft_to_parse_wrapped_devices	Could not parse data from wrapped devices.
failed_soft_to_parse_wrapped_polygon	Could not parse wrapped Polygon data.
failed_soft_to_parse_wrapped_tracking_data	Could not parse wrapped tracking data.
failed_soft_get_all_players	Failed to get the player collection from Hermes.
failed_soft_update_trackers	Failed to update trackers in Hermes.
failed_soft_add_polygon_skeleton	Failed to add a polygon skeleton to Hermes.
failed_soft_remove_polygon_skeleton	Failed to remove a polygon skeleton from Hermes.
failed_soft_set_polygon_skeleton_target	Failed to set the target (body estimation/target skeleton) of a polygon skeleton.
failed_soft_set_polygon_retargeting_settings	Failed to set the retargeting settings of a polygon skeleton.
failed_soft_add_target_skeleton	Failed to add a target skeleton to Hermes.
failed_soft_remove_target_skeleton	Failed to remove a target skeleton from Hermes.
failed_soft_update_target_skeleton	Failed to update the pose of a target sketeton.
failed_soft_check_polygon_version	Failed to compare the version of polygon with the plugin.

Function Documentation

◆ AddOrUpdatePolygonSkeleton()

bool HermesSDK::AddOrUpdatePolygonSkeleton ( Hermes::Protocol::Polygon::Skeleton _skeleton )

Adds or updates the given Polygon skeleton in Hermes.

Parameters

_skeleton The Skeleton to add or update in Hermes.

Returns: True on a successful add or update, or false otherwise.

◆ AddTargetSkeleton()

bool HermesSDK::AddTargetSkeleton ( Hermes::Protocol::Polygon::TargetSkeleton & _Skeleton )

Add a target skeleton that can be used for the retargeting (ie. an animated skeleton).

Parameters

_Skeleton the skeleton (should be in T-Pose).

Returns: True if the target skeleton was correctly added.

◆ CheckIfPolygonVersionIsCompatible()

bool HermesSDK::CheckIfPolygonVersionIsCompatible ( Hermes::Protocol::Polygon::Version _Version )

Checks if the version of the SDK matches the version of Hermes.

Parameters

_Version the current version of the SDK.

Returns: True if the versions are similar.

◆ ConnectLocal()

void HermesSDK::ConnectLocal	(	const std::string &	_clientName,
		const std::string &	_clientInfo,
		HermesSDK::filterSetupCallback &	_onFilterSetup,
		HermesSDK::deviceDataCallback &	_onDeviceData,
		HermesSDK::deviceLandscapeCallback &	_onDeviceLandscape,
		HermesSDK::polygonDataCallback &	_onPolygonData,
		HermesSDK::trackingDataCallback &	_onTrackingData,
		HermesSDK::errorMessageCallback &	_onError,
		HermesSDK::connectedToCoreCallback &	_onConnectedToCore,
		HermesSDK::disconnectedFromCoreCallback &	_onDisconnectedFromCore
	)

Connect to a Hermes host running on this local pc.

Parameters

_clientName	The client name that will be advertised to the Hermes host.
_clientInfo	The client description that will be advertised to the Hermes host.
_onFilterSetup	Callback that will be called when setting up the filters.
_onDeviceData	Callback that will be called when devicedata is available.
_onDeviceLandscape	Callback that will be called when landscape (connected devices) data is available.
_onPolygonData	Callback that will be called when Polygon data is available.
_onTrackingData	Callback that will be called when tracking data is available.
_onError	Callback that will be called when there is an error encountered.
_onConnectedToCore	Callback that will be called when the sdk is connected to core.
_onDisconnectedFromCore	Callback that will be called when the sdk is disconnected from core.

◆ ConnectNetworkAddress()

void HermesSDK::ConnectNetworkAddress	(	const std::string &	_clientName,
		const std::string &	_clientInfo,
		const std::string &	_address,
		HermesSDK::filterSetupCallback &	_onFilterSetup,
		HermesSDK::deviceDataCallback &	_onDeviceData,
		HermesSDK::deviceLandscapeCallback &	_onDeviceLandscape,
		HermesSDK::polygonDataCallback &	_onPolygonData,
		HermesSDK::trackingDataCallback &	_onTrackingData,
		HermesSDK::errorMessageCallback &	_onError,
		HermesSDK::connectedToCoreCallback &	_onConnectedToCore,
		HermesSDK::disconnectedFromCoreCallback &	_onDisconnectedFromCore
	)

Connect to a Hermes host running on the network by address.

Parameters

_clientName	The client name that will be advertised to the Hermes host.
_clientInfo	The client description that will be advertised to the Hermes host.
_adddress	The address of the host you are connecting to.
_onFilterSetup	Callback that will be called when setting up the filters.
_onDeviceData	Callback that will be called when devicedata is available.
_onDeviceLandscape	Callback that will be called when landscape (connected devices) data is available.
_onPolygonData	Callback that will be called when Polygon data is available.
_onTrackingData	Callback that will be called when tracking data is available.
_onError	Callback that will be called when there is an error encountered.
_onConnectedToCore	Callback that will be called when the sdk is connected to core.
_onDisconnectedFromCore	Callback that will be called when the sdk is disconnected from core.

◆ ConnectNetworkHostName()

void HermesSDK::ConnectNetworkHostName	(	const std::string &	_clientName,
		const std::string &	_clientInfo,
		const std::string &	_hostName,
		HermesSDK::filterSetupCallback &	_onFilterSetup,
		HermesSDK::deviceDataCallback &	_onDeviceData,
		HermesSDK::deviceLandscapeCallback &	_onDeviceLandscape,
		HermesSDK::polygonDataCallback &	_onPolygonData,
		HermesSDK::trackingDataCallback &	_onTrackingData,
		HermesSDK::errorMessageCallback &	_onError,
		HermesSDK::connectedToCoreCallback &	_onConnectedToCore,
		HermesSDK::disconnectedFromCoreCallback &	_onDisconnectedFromCore
	)

Connect to a Hermes host running on the network by hostname.

Parameters

_clientName	The client name that will be advertised to the Hermes host.
_clientInfo	The client description that will be advertised to the Hermes host.
_hostname	The hostname of the host you are connecting to.
_onFilterSetup	Callback that will be called when setting up the filters.
_onDeviceData	Callback that will be called when devicedata is available.
_onDeviceLandscape	Callback that will be called when landscape (connected devices) data is available.
_onPolygonData	Callback that will be called when Polygon data is available.
_onTrackingData	Callback that will be called when tracking data is available.
_onError	Callback that will be called when there is an error encountered.
_onConnectedToCore	Callback that will be called when the sdk is connected to core.
_onDisconnectedFromCore	Callback that will be called when the sdk is disconnected from core.

◆ FindNetworkHosts()

void HermesSDK::FindNetworkHosts	(	HermesSDK::filterSetupCallback &	_onFilterSetup,
		HermesSDK::deviceDataCallback &	_onDeviceData,
		HermesSDK::deviceLandscapeCallback &	_onDeviceLandscape,
		HermesSDK::polygonDataCallback &	_onPolygonData,
		HermesSDK::trackingDataCallback &	_onTrackingData,
		HermesSDK::errorMessageCallback &	_onError,
		HermesSDK::connectedToCoreCallback &	_onConnectedToCore,
		HermesSDK::disconnectedFromCoreCallback &	_onDisconnectedFromCore
	)

find hermes hosts connected to the network (please check your firewall to not block anything)

Parameters

_onFilterSetup	Callback that will be called when setting up the filters
_onDeviceData	Callback that will be called when devicedata is available
_onDeviceLandscape	Callback that will be called when landscape (connected devices) data is available
_onPolygonData	Callback that will be called when Polygon data is available.
_onTrackingData	Callback that will be called when tracking data is available.
_onError	Callback that will be called when there is an error encountered
_onConnectedToCore	Callback that will be called when the sdk is connected to core.
_onDisconnectedFromCore	Callback that will be called when the sdk is disconnected from core.

◆ GetActivePipeline()

Hermes::Protocol::Pipeline * HermesSDK::GetActivePipeline ( )

Gets the currently active filter pipeline.

Returns: A pointer to a Pipeline object detailing the pipeline that is currently active.

◆ GetAllUsers()

bool HermesSDK::GetAllUsers ( Hermes::Protocol::UserCollection & _userCollection )

Gets all the users as defined in the Manus Dashboard.

Parameters

_userCollection Collection of users to fill with all existing users.

Returns: True on a successful fetch, or false otherwise.

◆ GetFilterInventory()

bool HermesSDK::GetFilterInventory ( Hermes::Protocol::FilterInventory & _inventory )

Gets the list of available filters to apply. This is the list of filters currently available to Hermes, filled in to the provided inventory. From here you can add them to your filter pipeline by name.

Parameters

_inventory Inventory to fill with all available filters

Returns: True on a succesful fetch, or false otherwise.

◆ GetFoundHosts()

std::map< std::string, std::string > HermesSDK::GetFoundHosts ( )

Get the hosts that are found after a FindNetworkHosts() call

Returns: a map of hostnames (keys) and addresses (values)

◆ GetLeafInfo()

LeafInfo HermesSDK::GetLeafInfo ( Hermes::Protocol::Hardware::DeviceLeaf & leaf )

Support function to get a generalized LeafInfo of the leaf. to prevent having to check which type of leaf it is, if you just want its basic info like battery percentage, name, etc etc. (see LeafInfo for more details) The Leaf represents a type of glove, like the PrimeOne, PrimeTwo, Haptics or Appololegacy.

Parameters

DeviceLeaf ref that we want to generalize

Returns: LeafInfo instance.

◆ GetSdkAndCoreVersion()

void HermesSDK::GetSdkAndCoreVersion	(	Hermes::Protocol::Version &	_sdkVersion,
		Hermes::Protocol::Version &	_coreVersion
	)

Get the version number of the SDK and Core.

Parameters

_sdkVersion	The version number of the SDK.
_sdkVersion	The version number of Core.

◆ IsRunning()

bool HermesSDK::IsRunning ( )

Gets the current running state of the SDK (CareTaker)

Returns: True if the CareTaker is running, false otherwise

◆ RemovePolygonSkeleton()

bool HermesSDK::RemovePolygonSkeleton ( Hermes::Protocol::Polygon::RemoveSkeletonArgs _Args )

Remove skeleton with the given ID in Hermes.

Parameters

_Args The skeleton ID that has to be removed.

Returns: True on a successful removal.

◆ RemoveTargetSkeleton()

bool HermesSDK::RemoveTargetSkeleton ( std::string & _Name )

Remove a target skeleton.

Parameters

_Name the name of the skeleton that should be removed.

Returns: True if the target skeleton was correctly removed.

◆ SetPipeline()

bool HermesSDK::SetPipeline ( Hermes::Protocol::Pipeline * _pipeline )

Sets the currently active pipeline.

Parameters

_pipeline Pointer to a Pipeline object to commit.

Returns: True on a successful commit, or false otherwise

◆ SetSkeletonSettings()

bool HermesSDK::SetSkeletonSettings ( Hermes::Protocol::Polygon::Retargeting::SettingsArgs & _Args )

Set the retargeting settings of a specific skeleton.

Parameters

_Args the retarget settings the skeleton should use.

Returns: True if the settings were set correctly.

◆ SetSkeletonTarget()

bool HermesSDK::SetSkeletonTarget ( Hermes::Protocol::Polygon::SetTargetArgs & _Args )

Set the target of a specific skeleton. This can either be the body estimation of a user or a target skeleton

Parameters

_Args the target which the skeleton should retarget on.

Returns: True if the target was correctly set.

◆ Stop()

void HermesSDK::Stop ( )

Stops the SDK (Caretaker and Hive) Joins all threads, then logs out of its session with Hermes.

◆ UpdateTargetSkeleton()

void HermesSDK::UpdateTargetSkeleton ( Hermes::Protocol::Polygon::TargetSkeleton & _Skeleton )

Update a target skeleton pose.

Parameters

_Skeleton the target skeleton.

◆ UpdateTrackers()

bool HermesSDK::UpdateTrackers ( const Hermes::Protocol::TrackerData & _trackerData )

Send tracker data from the client to Hermes. This allows clients to add their own custom trackers and use them in Hermes. It can also be used to create a "fake" tracker for testing, when no hardware is available

Parameters

_trackerData The trackerdata to send to Hermes.

Returns: True on a successful update, or false otherwise.

◆ VibrateFingers()

bool HermesSDK::VibrateFingers	(	uint32_t	_dongleId,
		Hermes::Protocol::HandType	_handType,
		const std::array< float, 5 > &	_powers
	)

Sends haptic data to the specified haptics module Internally, this opens a socket (if one is not open already) to communicate with Hermes for extra responsiveness.

Parameters

_dongleId	The id of the haptics dongle to send the data to.
_handType	Left, right, or unknown (which will send data to both hands)
_powers	An array of 5 floats [0.0, 1.0], thumb to pinky, with the strength of vibration for each actuator

Returns: True on a successful send, or false otherwise

◆ VibrateWrist()

bool HermesSDK::VibrateWrist	(	uint32_t	_deviceId,
		float	_unitStrength,
		uint16_t	_durationInMilliseconds
	)

Sends a rumble command to the specified glove. Note that this is the wrist actuator - Prime Haptics modules use a different interface for more precise feedback.

Parameters

_deviceId	The device id of the glove to rumble
_unitStrength	Strength of the rumble, from 0.0 to 1.0
_durationInMilliseconds	Duration to rumble the glove for

Returns: True on a successful send, or false otherwise.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ ErrorCodes

Function Documentation

◆ AddOrUpdatePolygonSkeleton()

◆ AddTargetSkeleton()

◆ CheckIfPolygonVersionIsCompatible()

◆ ConnectLocal()

◆ ConnectNetworkAddress()

◆ ConnectNetworkHostName()

◆ FindNetworkHosts()

◆ GetActivePipeline()

◆ GetAllUsers()

◆ GetFilterInventory()

◆ GetFoundHosts()

◆ GetLeafInfo()

◆ GetSdkAndCoreVersion()

◆ IsRunning()

◆ RemovePolygonSkeleton()

◆ RemoveTargetSkeleton()

◆ SetPipeline()

◆ SetSkeletonSettings()

◆ SetSkeletonTarget()

◆ Stop()

◆ UpdateTargetSkeleton()

◆ UpdateTrackers()

◆ VibrateFingers()

◆ VibrateWrist()