//
public PoseProfile(string posename, JointChain jc, /*double holdtime = Double.NaN,*/ bool isrepeated = false, double interpol = 1.0, double fastrephold = Double.NaN)
{
this.ID = posename;
this.Joints = jc;
//this.HoldTime = holdtime;
this.IsRepeated = isrepeated;
this.RepeatInterpol = interpol;
this.FastRepeatHoldTime = fastrephold;
}
public virtual JointChain InterpolateJointChain(JointChain jc, double coef)
{
if (jc.Name == this.Name)
{
return this;
}
else
{
Debug.WriteLine("PoseInterpolation: joints do not match!");
return null;
}
}
// Deep Copy Constructor
public PoseProfile(PoseProfile pp, bool isdeep = true)
{
this.ID = pp.ID;
this.JointInUseNum = pp.JointInUseNum;
this.IsRepeated = pp.IsRepeated;
this.RepeatInterpol = pp.RepeatInterpol;
this.FastRepeatHoldTime = pp.FastRepeatHoldTime;
//this.SpeedFraction = pp.SpeedFraction;
if (isdeep == true)
{
this.Joints = pp.Joints.DeepCopy();
}
}
public override JointChain InterpolateJointChain(JointChain jc, double coef)
{
Arm arm = (Arm)jc;
if (jc.Name == this.Name)
{
double shldptch = base.Interpolation(this.ShoulderPitch, arm.ShoulderPitch, coef);
double shldroll = base.Interpolation(this.ShoulderRoll, arm.ShoulderRoll, coef);
double elbyaw = base.Interpolation(this.ElbowYaw, arm.ElbowYaw, coef);
double elbroll = base.Interpolation(this.ElbowRoll, arm.ElbowRoll, coef);
double wrstyaw = base.Interpolation(this.WristYaw, arm.WristYaw, coef);
double hand = base.Interpolation(this.Hand, arm.Hand, coef);
if (this.Name == "RArm")
{
return new RArm(true, shldptch, shldroll, elbyaw, elbroll, wrstyaw, hand);
}
else // LArm
{
return new LArm(true, shldptch, shldroll, elbyaw, elbroll, wrstyaw, hand);
}
}
else
{
Debug.WriteLine("PoseInterpolation: joints do not match!");
return null;
}
}
public Stroke(JointChain pose_init, JointChain pose_end)
{
this.PoseInit = pose_init;
this.PoseEnd = pose_end;
}
