Kinect Angles Calculation Script

This is a brief explanation of code used to convert Kinect input from the Joints structure into the degrees of freedom of the AMIGO's arms.

This code is part of a project to create a robot technique that allows users to hug someone when separated by a disctance like a phone call.

For a mathmatical explanation of how the degrees of freedom are determined, check this section of the project.

Vectors and Vector Manipulation

As c++ does not provide a standard library for 3 dimensional vectors and vector manipulations, we made our own Vector3 class that gives the user access to its coördinates and contains a function that returns the length of the vector. This code is not contained here but can be read in the full code that can be downloaded from this wiki page.