//TextWriter tw;
// modified
#region Public API
public KinectDiagnosticViewer()
{
InitializeComponent();
/*
bodyMM.IsEnabled = false;
leftHandMM.IsEnabled = false;
rightHandMM.IsEnabled = false;
leftLegMM.IsEnabled = false;
rightLegMM.IsEnabled = false;
*/
contor = 0;
motionUtils = new MotionUtils();
bodyState = new State(Constants.stateType.INTERMEDIATE, "");
bodyState.setName("D");
leftHandState = new State(Constants.stateType.INTERMEDIATE, "");
leftHandState.setName("Lc");
rightHandState = new State(Constants.stateType.INTERMEDIATE, "");
rightHandState.setName("Lc");
leftLegState = new State(Constants.stateType.INTERMEDIATE, "");
leftLegState.setName("D");
rightLegState = new State(Constants.stateType.INTERMEDIATE, "");
rightLegState.setName("D");
bodyCommonPosition = new List<string>();
leftHandCommonPosition = new List<string>();
rightHandCommonPosition = new List<string>();
leftLegCommonPosition = new List<string>();
rightLegCommonPosition = new List<string>();
}
public State getNextLegState(String stateName, String action)
{
//get state by name
State currentState = new State("");
if (legStates.TryGetValue(stateName, out currentState))
{
Transition transition;
if (currentState.getTransitions().TryGetValue(action, out transition))
{
return transition.getNewState();
}
}
Console.Out.WriteLine("::::::::::::::::");
return currentState;
}
private void nui_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
SkeletonFrame skeletonFrame = e.SkeletonFrame;
//tw = new StreamWriter("date.txt", true);
//KinectSDK TODO: this shouldn't be needed, but if Power is removed from the Kinect, you may still get an event here, but skeletonFrame will be null.
if (skeletonFrame == null)
{
return;
}
int iSkeleton = 0;
Brush[] brushes = new Brush[6];
brushes[0] = new SolidColorBrush(Color.FromRgb(255, 0, 0));
brushes[1] = new SolidColorBrush(Color.FromRgb(0, 255, 0));
brushes[2] = new SolidColorBrush(Color.FromRgb(64, 255, 255));
brushes[3] = new SolidColorBrush(Color.FromRgb(255, 255, 64));
brushes[4] = new SolidColorBrush(Color.FromRgb(255, 64, 255));
brushes[5] = new SolidColorBrush(Color.FromRgb(128, 128, 255));
skeletonCanvas.Children.Clear();
foreach (SkeletonData data in skeletonFrame.Skeletons)
{
if (SkeletonTrackingState.Tracked == data.TrackingState)
{
// Draw bones
Brush brush = brushes[iSkeleton % brushes.Length];
skeletonCanvas.Children.Add(getBodySegment(data.Joints, brush, JointID.HipCenter, JointID.Spine, JointID.ShoulderCenter, JointID.Head));
skeletonCanvas.Children.Add(getBodySegment(data.Joints, brush, JointID.ShoulderCenter, JointID.ShoulderLeft, JointID.ElbowLeft, JointID.WristLeft, JointID.HandLeft));
skeletonCanvas.Children.Add(getBodySegment(data.Joints, brush, JointID.ShoulderCenter, JointID.ShoulderRight, JointID.ElbowRight, JointID.WristRight, JointID.HandRight));
skeletonCanvas.Children.Add(getBodySegment(data.Joints, brush, JointID.HipCenter, JointID.HipLeft, JointID.KneeLeft, JointID.AnkleLeft, JointID.FootLeft));
skeletonCanvas.Children.Add(getBodySegment(data.Joints, brush, JointID.HipCenter, JointID.HipRight, JointID.KneeRight, JointID.AnkleRight, JointID.FootRight));
// Draw joints
//tw.WriteLine("");
Point3D[] points = new Point3D[20];
foreach (Joint joint in data.Joints)
{
//tw.WriteLine(joint.Position.X + " " + joint.Position.Y + " " + joint.Position.Z);
Point jointPos = getDisplayPosition(joint);
Line jointLine = new Line();
jointLine.X1 = jointPos.X - 3;
jointLine.X2 = jointLine.X1 + 6;
jointLine.Y1 = jointLine.Y2 = jointPos.Y;
jointLine.Stroke = jointColors[joint.ID];
jointLine.StrokeThickness = 6;
skeletonCanvas.Children.Add(jointLine);
points[(int)joint.ID] = new Point3D(joint.Position.X, joint.Position.Y, joint.Position.Z);
}
if (b1.IsEnabled == false)
{
// get position for each body part
// BODY
Example bodyExample = new Example();
double angle = GeometryUtils.getAngle(points[2], points[1], points[13]);
bodyExample.add("A.2.1.13", angle);
angle = GeometryUtils.getAngle(points[2], points[1], points[17]);
bodyExample.add("A.2.1.17", angle);
angle = GeometryUtils.getAngle(points[1], points[2], Constants.planeType.XOY);
bodyExample.add("A.1.2.XoY", angle);
angle = GeometryUtils.getAngle(points[1], points[2], Constants.planeType.YOZ);
bodyExample.add("A.1.2.YoZ", angle);
// LEFT HAND
Example leftHandExample = new Example();
angle = GeometryUtils.getAngle(points[4], points[5], Constants.planeType.XOY);
leftHandExample.add("A.4.5.XoY", angle);
angle = GeometryUtils.getAngle(points[4], points[5], Constants.planeType.YOZ);
leftHandExample.add("A.4.5.YoZ", angle);
angle = points[4].getY() - points[5].getY();
leftHandExample.add("D.4y.5y", angle);
Example rightHandExample = new Example();
angle = GeometryUtils.getAngle(points[8], points[9], Constants.planeType.XOY);
rightHandExample.add("A.8.9.XoY", angle);
angle = GeometryUtils.getAngle(points[8], points[9], Constants.planeType.YOZ);
rightHandExample.add("A.8.9.YoZ", angle);
angle = points[8].getY() - points[9].getY();
rightHandExample.add("D.8y.9y", angle);
Example leftLegExample = new Example();
angle = GeometryUtils.getAngle(points[12], points[13], points[14]);
leftLegExample.add("A.12.13.14", angle);
angle = GeometryUtils.getAngle(points[13], points[14], Constants.planeType.XOY);
leftLegExample.add("A.13.14.XoY", angle);
angle = GeometryUtils.getAngle(points[13], points[14], Constants.planeType.YOZ);
leftLegExample.add("A.13.14.YoZ", angle);
Example rightLegExample = new Example();
angle = GeometryUtils.getAngle(points[16], points[17], points[18]);
rightLegExample.add("A.16.17.18", angle);
angle = GeometryUtils.getAngle(points[17], points[18], Constants.planeType.XOY);
rightLegExample.add("A.17.18.XoY", angle);
angle = GeometryUtils.getAngle(points[17], points[18], Constants.planeType.YOZ);
rightLegExample.add("A.17.18.YoZ", angle);
rightLegPositionText.Text = DTUtils.findValueInTree(rightLegDT, rightLegExample);
String bodyPosition = DTUtils.findValueInTree(bodyDT, bodyExample);
String leftHandPosition = DTUtils.findValueInTree(leftHandDT, leftHandExample);
String rightHandPosition = DTUtils.findValueInTree(rightHandDT, rightHandExample);
String leftLegPosition = DTUtils.findValueInTree(leftLegDT, leftLegExample);
String rightLegPosition = DTUtils.findValueInTree(rightLegDT, rightLegExample);
if (contor < Constants.SnapshotFrequency)
{
bodyCommonPosition.Add(bodyPosition);
rightHandCommonPosition.Add(rightHandPosition);
leftHandCommonPosition.Add(leftHandPosition);
rightLegCommonPosition.Add(rightLegPosition);
leftLegCommonPosition.Add(leftLegPosition);
contor++;
}
else
{
if (rightLegPosition.Equals("indoit") && leftLegPosition.Equals("indoit") && bodyPosition.Equals("aplecat frontal"))
{
bodyPositionText.Text = "spre ghemuire";
}
else
{
// get position and motion
bodyPositionText.Text = PositionUtils.getCommon(bodyCommonPosition);
if (bodyPositionText.Text.Equals("culcat") == true)
{
leftHandPositionText.Text = "";
rightHandPositionText.Text = "";
leftLegPositionText.Text = "";
rightLegPositionText.Text = "";
bodyState = motionUtils.getNextBodyState(bodyState.getName(), bodyPositionText.Text);
//bodyMotionText.Text = bodyState.getMotion();
leftHandMotionText.Text = "";
rightHandMotionText.Text = "";
leftLegMotionText.Text = "";
rightLegMotionText.Text = "";
bodyCommonPosition = new List<string>();
leftHandCommonPosition = new List<string>();
rightHandCommonPosition = new List<string>();
leftLegCommonPosition = new List<string>();
rightLegCommonPosition = new List<string>();
}
else
{
leftHandPositionText.Text = PositionUtils.getCommon(leftHandCommonPosition);
rightHandPositionText.Text = PositionUtils.getCommon(rightHandCommonPosition);
leftLegPositionText.Text = PositionUtils.getCommon(leftLegCommonPosition);
rightLegPositionText.Text = PositionUtils.getCommon(rightLegCommonPosition);
bodyState = motionUtils.getNextBodyState(bodyState.getName(), bodyPositionText.Text);
leftHandState = motionUtils.getNextHandState(leftHandState.getName(), leftHandPositionText.Text);
rightHandState = motionUtils.getNextHandState(rightHandState.getName(), rightHandPositionText.Text);
leftLegState = motionUtils.getNextLegState(leftLegState.getName(), leftLegPositionText.Text);
rightLegState = motionUtils.getNextLegState(rightLegState.getName(), rightLegPositionText.Text);
bodyMotionText.Text = bodyState.getMotion();
leftHandMotionText.Text = leftHandState.getMotion();
rightHandMotionText.Text = rightHandState.getMotion();
leftLegMotionText.Text = leftLegState.getMotion();
rightLegMotionText.Text = rightLegState.getMotion();
bodyCommonPosition = new List<string>();
leftHandCommonPosition = new List<string>();
rightHandCommonPosition = new List<string>();
leftLegCommonPosition = new List<string>();
rightLegCommonPosition = new List<string>();
}
// reset counter
contor = 0;
}
}
}
}
iSkeleton++;
} // for each skeleton
//tw.Close();
}
public Dictionary<String, State> initBodyStates()
{
Dictionary<String, State> bodyList = new Dictionary<String, State>();
State state1 = new State(Constants.stateType.INTERMEDIATE, "");
state1.setName("D");
State state2 = new State(Constants.stateType.FINAL, "Aplecare laterala");
state2.setName("Al.D");
State state3 = new State(Constants.stateType.FINAL, "Ridicare din lateral");
state3.setName("D.Al");
State state4 = new State(Constants.stateType.FINAL, "Ridicare din asezat");
state4.setName("D.AfAs");
State state5 = new State(Constants.stateType.FINAL, "Aplecare frontala");
state5.setName("Af.D");
State state6 = new State(Constants.stateType.FINAL, "Asezare");
state6.setName("As.Af");
State state7 = new State(Constants.stateType.INTERMEDIATE, "");
state7.setName("Af.As");
State state8 = new State(Constants.stateType.FINAL, "Aplecare laterala din asezat");
state8.setName("Al.As");
State state9 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare frontala din asezat");
state9.setName("Af.AlAs");
State state10 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare laterala din asezat");
state10.setName("Al.AfAs");
State state11 = new State(Constants.stateType.FINAL, "Ridicare din lateral asezat");
state11.setName("As.AlAs");
State state12 = new State(Constants.stateType.FINAL, "Ridicare din frontal");
state12.setName("D.Af");
State state13 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare laterala din aplecare frontala");
state13.setName("Al.Af");
State state14 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare frontala din aplecare laterala");
state14.setName("Af.Al");
State state15 = new State(Constants.stateType.FINAL, "Ridicare din aplecat frontal asezat");
state15.setName("As.AfAs");
State state16 = new State(Constants.stateType.FINAL, "Cadere");
state16.setName("C");
state1.getTransitions().Add("drept", new Transition(0.2, "drept", state1));
state1.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state1.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state1.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state1.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state2.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state2.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state14));
state2.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state2.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state2.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state3.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state3.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state3.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state3.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state3.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state4.getTransitions().Add("drept", new Transition(0.2, "drept", state4));
state4.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state4.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state4.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state4.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state5.getTransitions().Add("drept", new Transition(0.2, "drept", state12));
state5.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state5.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state13));
state5.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state5.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state6.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state6.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state6.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state6.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state6.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state7.getTransitions().Add("drept", new Transition(0.2, "drept", state4));
state7.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state7.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state10));
state7.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state7.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state8.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state8.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state9));
state8.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state8.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state8.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state9.getTransitions().Add("drept", new Transition(0.2, "drept", state15));
state9.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state9));
state9.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state10));
state9.getTransitions().Add("asezat", new Transition(0.2, "asezat", state15));
state9.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state10.getTransitions().Add("drept", new Transition(0.2, "drept", state11));
state10.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state9));
state10.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state10));
state10.getTransitions().Add("asezat", new Transition(0.2, "asezat", state11));
state10.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state11.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state11.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state11.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state11.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state11.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state12.getTransitions().Add("drept", new Transition(0.2, "drept", state12));
state12.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state12.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state12.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state12.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state13.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state13.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state14));
state13.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state13));
state13.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state13.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state14.getTransitions().Add("drept", new Transition(0.2, "drept", state12));
state14.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state14));
state14.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state13));
state14.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state14.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state15.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state15.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state15.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state15.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state15.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
// TODO: modifica starea urmatoare
state16.getTransitions().Add("drept", new Transition(0.2, "drept", state1));
state16.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state16.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state16.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state16.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
bodyList.Add(state1.getName(), state1);
bodyList.Add(state2.getName(), state2);
bodyList.Add(state3.getName(), state3);
bodyList.Add(state4.getName(), state4);
bodyList.Add(state5.getName(), state5);
bodyList.Add(state6.getName(), state6);
bodyList.Add(state7.getName(), state7);
bodyList.Add(state8.getName(), state8);
bodyList.Add(state9.getName(), state9);
bodyList.Add(state10.getName(), state10);
bodyList.Add(state11.getName(), state11);
bodyList.Add(state12.getName(), state12);
bodyList.Add(state13.getName(), state13);
bodyList.Add(state14.getName(), state14);
bodyList.Add(state15.getName(), state15);
bodyList.Add(state16.getName(), state16);
return bodyList;
}
public Dictionary<String, State> initLegStates()
{
Dictionary<String, State> legList = new Dictionary<String, State>();
State state1 = new State(Constants.stateType.INTERMEDIATE, "");
state1.setName("D");
State state2 = new State(Constants.stateType.INTERMEDIATE, "");
state2.setName("I.D");
State state3 = new State(Constants.stateType.FINAL, "Pas");
state3.setName("D.I");
State state4 = new State(Constants.stateType.FINAL, "Ridicare frontala");
state4.setName("Rf.D");
State state5 = new State(Constants.stateType.FINAL, "Ridicare laterala");
state5.setName("Rl.D");
State state6 = new State(Constants.stateType.FINAL, "Miscare circulara spre frontal");
state6.setName("Rf.Rl");
State state7 = new State(Constants.stateType.FINAL, "Coborare din frontal");
state7.setName("D.Rf");
State state8 = new State(Constants.stateType.INTERMEDIATE, "");
state8.setName("I");
State state9 = new State(Constants.stateType.FINAL, "Coborare din lateral");
state9.setName("D.Rl");
State state10 = new State(Constants.stateType.FINAL, "Miscare circulara spre lateral");
state10.setName("Rl.Rf");
state1.getTransitions().Add("drept", new Transition(0.2, "drept", state1));
state1.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state1.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state1.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state2.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state2.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state2.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state2.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state3.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state3.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state3.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state3.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state4.getTransitions().Add("drept", new Transition(0.2, "drept", state7)); // 3
state4.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state4.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state4.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // 2
state5.getTransitions().Add("drept", new Transition(0.2, "drept", state9));
state5.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state6));
state5.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state5.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // sau 10
state6.getTransitions().Add("drept", new Transition(0.2, "drept", state7));
state6.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state6));
state6.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state6.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // sau 10 !
state7.getTransitions().Add("drept", new Transition(0.2, "drept", state7));
state7.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state7.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state7.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2)); // sau 10 !
state8.getTransitions().Add("drept", new Transition(0.2, "drept", state1)); // !!
state8.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4)); // !!
state8.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5)); // !!
state8.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8));
state9.getTransitions().Add("drept", new Transition(0.2, "drept", state9));
state9.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state9.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state9.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state10.getTransitions().Add("drept", new Transition(0.2, "drept", state9)); //7
state10.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state6));
state10.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state10.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // sau 2
legList.Add(state1.getName(), state1);
legList.Add(state2.getName(), state2);
legList.Add(state3.getName(), state3);
legList.Add(state4.getName(), state4);
legList.Add(state5.getName(), state5);
legList.Add(state6.getName(), state6);
legList.Add(state7.getName(), state7);
legList.Add(state8.getName(), state8);
legList.Add(state9.getName(), state9);
legList.Add(state10.getName(), state10);
return legList;
}
public Dictionary<String, State> initHandStates()
{
Dictionary<String, State> handList = new Dictionary<String, State>();
State state1 = new State(Constants.stateType.INTERMEDIATE, "");
state1.setName("Lc");
State state2 = new State(Constants.stateType.FINAL, "Ridicare frontala");
state2.setName("Rf.Lc");
State state3 = new State(Constants.stateType.FINAL, "Coborare din frontal");
state3.setName("Lc.Rf");
State state4 = new State(Constants.stateType.FINAL, "Ridicare laterala");
state4.setName("Rl.Lc");
State state5 = new State(Constants.stateType.FINAL, "Coborare din lateral");
state5.setName("Lc.Rl");
State state6 = new State(Constants.stateType.FINAL, "Ridicare sus");
state6.setName("Rs");
State state7 = new State(Constants.stateType.FINAL, "Coborare de sus in frontal");
state7.setName("Rf.Rs");
State state8 = new State(Constants.stateType.FINAL, "Coborare de sus in lateral");
state8.setName("Rl.Rs");
State state9 = new State(Constants.stateType.FINAL, "Lovitura pumn");
state9.setName("Rf.Rl");
State state10 = new State(Constants.stateType.FINAL, "Miscare circulara din frontal in lateral");
state10.setName("Rl.Rf");
state1.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state1));
state1.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state1.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state1.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state2.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state2.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state2.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state2.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state3.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state3.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state3.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state3.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state4.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state4.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state4.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state4.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state5.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state5.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state5.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state5.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state6.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state1));
state6.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state7));
state6.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state8));
state6.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state7.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state7.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state7));
state7.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state7.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state8.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state8.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state8.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state8));
state8.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state9.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state9.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state9.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state9.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state10.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state10.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state10.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state10.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
handList.Add(state1.getName(), state1);
handList.Add(state2.getName(), state2);
handList.Add(state3.getName(), state3);
handList.Add(state4.getName(), state4);
handList.Add(state5.getName(), state5);
handList.Add(state6.getName(), state6);
handList.Add(state7.getName(), state7);
handList.Add(state8.getName(), state8);
handList.Add(state9.getName(), state9);
handList.Add(state10.getName(), state10);
return handList;
}
public void setNewState(State newState)
{
this.newState = newState;
}
public Transition(double probability, String action, State _state)
{
this.probability = probability;
this.action = action;
this.newState = _state;
}