require 'torch'

require 'dok'

require 'image'

require 'xlua'

local help_desc = [[

Ardrone...

]]

ardrone = {}

-- load C lib

require 'libardrone'

function ardrone.new(pipe)

return libardrone.initArdrone(pipe)

end

function ardrone.release(ar)

libardrone.releaseArdrone(ar)

end

function ardrone.command(ar, fb, lr, rot, alt)

libardrone.commandArdrone(ar, fb, lr, rot, alt)

end

function ardrone.takeoff(ar, takeoff)

libardrone.takeoffArdrone(ar, takeoff)

end

function ardrone.emergency(ar, on)

libardrone.emergencyArdrone(ar, on)

end

function ardrone.initvideo()

libardrone.initVideoArdrone()

end

function ardrone.getframe(frame)

if frame == nil then

frame = torch.FloatTensor()

end

frame:resize(1, 180, 320)

libardrone.getFrameArdrone(frame)

return frame

end