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+/// @file matleap.h
+/// @brief leap motion controller interface
+/// @author Jeff Perry <jeffsp@gmail.com>
+/// @version 1.0
+/// @date 2013-09-12
+
+#ifndef MATLEAP_H
+#define MATLEAP_H
+
+#define MAJOR_REVISION 4
+#define MINOR_REVISION 0
+
+#include "Leap.h"
+#include "mex.h"
+
+#include <unistd.h>
+
+namespace matleap {
+
+/// @brief a leap frame
+    struct frame {
+        int64_t id;
+        int64_t timestamp;
+        uint32_t detectedHands;
+        Leap::HandList hands;
+        bool has_gesture;
+    };
+
+/// @brief leap frame grabber interface
+    class frame_grabber {
+      private:
+        bool debug;
+        Leap::Controller controllerConnection;
+        frame current_frame;
+
+      public:
+        /// @brief constructor
+        frame_grabber()
+                : debug(false) {
+        }
+
+        void open_connection() {
+            mexPrintf("Waiting for connection");
+            while (!controllerConnection.isConnected()) {
+                mexPrintf(".");
+                usleep(500000);
+            }
+            //controllerConnection.enableGesture(Leap::Gesture::TYPE_SWIPE);
+            controllerConnection.enableGesture(Leap::Gesture::TYPE_CIRCLE);
+            //controllerConnection.enableGesture(Leap::Gesture::TYPE_KEY_TAP);
+            //controllerConnection.enableGesture(Leap::Gesture::TYPE_SCREEN_TAP);
+            mexPrintf(" Connected!\n");
+            // TODO: check if needed
+            //LeapSetPolicyFlags(*controllerConnection, eLeapPolicyFlag_BackgroundFrames, 0);
+        }
+
+        void close_connection() {
+            mexPrintf("Good bye.");
+        }
+
+        /// @brief destructor
+        ~frame_grabber() {
+            if (debug)
+                mexPrintf("Closing matleap frame grabber\n");
+        }
+
+        /// @brief debug member access
+        ///
+        /// @param flag turn it on/off
+        void set_debug(bool flag) {
+            if (flag == debug)
+                return;
+            if (flag)
+                mexPrintf("Setting debug on\n");
+            debug = flag;
+        }
+
+        /// @brief get a frame from the controller
+        ///
+        /// @return the frame
+        frame const &get_frame() {
+            auto const &frame = controllerConnection.frame();
+            current_frame.id = frame.id();
+            if (debug)
+                mexPrintf("Got frame with id %d\n", current_frame.id);
+            current_frame.timestamp = frame.timestamp();
+            current_frame.detectedHands = frame.hands().count();
+            current_frame.hands = frame.hands();
+            current_frame.has_gesture = !frame.gestures().isEmpty();
+            return current_frame;
+        }
+    };
+
+} // namespace matleap
+
+#endif