public static float getAngleNew(Vecto3Float vect1, Vecto3Float vect2) { vect1.normalize(); vect2.normalize(); if (vect1.magnitude() != 0.0 && vect2.magnitude() != 0.0) { double x = (double)vect1.cross(vect2).magnitude(); double y = (double)vect1.dot(vect2); return(atan2(x, y)); } else { return(0f); } }
///<summary> /// Compute angle between the joint according to the position of the joint ///</summary> private void angleVector() { SkeletonPoint shoulderLeft = this.avgPoint[JointType.ShoulderLeft]; SkeletonPoint shoulderCenter = this.avgPoint[JointType.ShoulderCenter]; SkeletonPoint shoulderRight = this.avgPoint[JointType.ShoulderRight]; SkeletonPoint elbowLeft = this.avgPoint[JointType.ElbowLeft]; SkeletonPoint elbowRight = this.avgPoint[JointType.ElbowRight]; SkeletonPoint wristLeft = this.avgPoint[JointType.WristLeft]; SkeletonPoint wristRight = this.avgPoint[JointType.WristRight]; SkeletonPoint hipLeft = this.avgPoint[JointType.HipLeft]; SkeletonPoint hipCenter = this.avgPoint[JointType.HipCenter]; SkeletonPoint hipRight = this.avgPoint[JointType.HipRight]; Vecto3Float upperArmLeft = new Vecto3Float(shoulderLeft.X - elbowLeft.X, shoulderLeft.Y - elbowLeft.Y, shoulderLeft.Z - elbowLeft.Z); Vecto3Float lowerArmLeft = new Vecto3Float(wristLeft.X - elbowLeft.X, wristLeft.Y - elbowLeft.Y, wristLeft.Z - elbowLeft.Z); Vecto3Float upperArmRight = new Vecto3Float(shoulderRight.X - elbowRight.X, shoulderRight.Y - elbowRight.Y, shoulderRight.Z - elbowRight.Z); Vecto3Float lowerArmRight = new Vecto3Float(wristRight.X - elbowRight.X, wristRight.Y - elbowRight.Y, wristRight.Z - elbowRight.Z); Vecto3Float shoulderLToHipLeft = new Vecto3Float(shoulderLeft.X - hipLeft.X, shoulderLeft.Y - hipLeft.Y, shoulderLeft.Z - hipLeft.Z); Vecto3Float shoulderRToHipRight = new Vecto3Float(shoulderRight.X - hipRight.X, shoulderRight.Y - hipRight.Y, shoulderRight.Z - hipRight.Z); Vecto3Float shoulderLToShoulderC = new Vecto3Float(shoulderLeft.X - shoulderCenter.X, shoulderLeft.Y - shoulderCenter.Y, shoulderLeft.Z - shoulderCenter.Z); Vecto3Float shoulderRToShoulderC = new Vecto3Float(shoulderRight.X - shoulderCenter.X, shoulderRight.Y - shoulderCenter.Y, shoulderRight.Z - shoulderCenter.Z); if (hipLeft.Z + 0.15 > elbowLeft.Z) //if the elbow is in front of the hip { //Shoulder Roll //Left if (Math.Abs(shoulderLeft.Z - elbowLeft.Z) < 0.1 && Math.Abs(shoulderLeft.X - elbowLeft.X) < 0.1) { this.jointAngles[NAOConversion.LShoulderRoll] = NAOConversion.convertAngle(NAOConversion.LShoulderRoll, Kinematic.getAngleNew(upperArmLeft.projectionOntoXY(), shoulderLToHipLeft.projectionOntoXY())); } else { this.jointAngles[NAOConversion.LShoulderRoll] = NAOConversion.convertAngle(NAOConversion.LShoulderRoll, Kinematic.getAngleNew(upperArmLeft.projectionOntoZX(), shoulderLToHipLeft.projectionOntoZX())); } //Shoulder Pitch //Left this.jointAngles[NAOConversion.LShoulderPitch] = NAOConversion.convertAngle(NAOConversion.LShoulderPitch, Kinematic.getAngleNew(upperArmLeft.projectionOntoZY(), shoulderLToHipLeft.projectionOntoZY())); } if (hipRight.Z + 0.15 > elbowRight.Z)//if the elbow is in front of the hip { //Shoulder Roll //Right if (Math.Abs(shoulderRight.Z - elbowRight.Z) < 0.1 && Math.Abs(shoulderRight.X - elbowRight.X) < 0.1) { this.jointAngles[NAOConversion.RShoulderRoll] = NAOConversion.convertAngle(NAOConversion.RShoulderRoll, Kinematic.getAngleNew(upperArmRight.projectionOntoXY(), shoulderRToHipRight.projectionOntoXY())); } else { this.jointAngles[NAOConversion.RShoulderRoll] = NAOConversion.convertAngle(NAOConversion.RShoulderRoll, Kinematic.getAngleNew(upperArmRight.projectionOntoZX(), shoulderRToHipRight.projectionOntoZX())); } //Shoulder Pitch //Right this.jointAngles[NAOConversion.RShoulderPitch] = NAOConversion.convertAngle(NAOConversion.RShoulderPitch, Kinematic.getAngleNew(shoulderRToHipRight.projectionOntoZY(), upperArmRight.projectionOntoZY())); } //Elbow Roll //Left this.jointAngles[NAOConversion.LElbowRoll] = NAOConversion.convertAngle(NAOConversion.LElbowRoll, Kinematic.getAngleNew(upperArmLeft, lowerArmLeft)); //Right this.jointAngles[NAOConversion.RElbowRoll] = NAOConversion.convertAngle(NAOConversion.RElbowRoll, Kinematic.getAngleNew(upperArmRight, lowerArmRight)); //Elbow Yaw ////Left Vecto3Float shoulderLTohipCenter = new Vecto3Float(shoulderLeft.X - hipCenter.X, shoulderLeft.Y - hipCenter.Y, shoulderLeft.Z - hipCenter.Z); Vecto3Float lCrossCenterArm = upperArmLeft.cross(shoulderLTohipCenter); Vecto3Float lCrossArms = upperArmLeft.cross(lowerArmLeft); float lElbowYaw = Kinematic.getAngleNew(lCrossCenterArm, lCrossArms); this.jointAngles[NAOConversion.LElbowYaw] = NAOConversion.convertAngle(NAOConversion.LElbowYaw, lElbowYaw); //Right Vecto3Float shoulderRTohipCenter = new Vecto3Float(shoulderRight.X - hipCenter.X, shoulderRight.Y - hipCenter.Y, shoulderRight.Z - hipCenter.Z); Vecto3Float rCrossCenterArm = upperArmRight.cross(shoulderRTohipCenter); Vecto3Float rCrossArms = upperArmRight.cross(lowerArmRight); float rElbowYaw = Kinematic.getAngleNew(rCrossCenterArm, rCrossArms); this.jointAngles[NAOConversion.RElbowYaw] = NAOConversion.convertAngle(NAOConversion.RElbowYaw, rElbowYaw); }
public static float getAngleNew(Vecto3Float vect1, Vecto3Float vect2) { vect1.normalize(); vect2.normalize(); if (vect1.magnitude() != 0.0 && vect2.magnitude() != 0.0) { double x = (double)vect1.cross(vect2).magnitude(); double y = (double)vect1.dot(vect2); return atan2(x, y); } else { return 0f; } }
///<summary> /// Compute angle between the joint according to the position of the joint ///</summary> private void angleVector() { SkeletonPoint shoulderLeft = this.avgPoint[JointType.ShoulderLeft]; SkeletonPoint shoulderCenter = this.avgPoint[JointType.ShoulderCenter]; SkeletonPoint shoulderRight = this.avgPoint[JointType.ShoulderRight]; SkeletonPoint elbowLeft = this.avgPoint[JointType.ElbowLeft]; SkeletonPoint elbowRight = this.avgPoint[JointType.ElbowRight]; SkeletonPoint wristLeft = this.avgPoint[JointType.WristLeft]; SkeletonPoint wristRight = this.avgPoint[JointType.WristRight]; SkeletonPoint hipLeft = this.avgPoint[JointType.HipLeft]; SkeletonPoint hipCenter = this.avgPoint[JointType.HipCenter]; SkeletonPoint hipRight = this.avgPoint[JointType.HipRight]; Vecto3Float upperArmLeft = new Vecto3Float(shoulderLeft.X - elbowLeft.X, shoulderLeft.Y - elbowLeft.Y, shoulderLeft.Z - elbowLeft.Z); Vecto3Float lowerArmLeft = new Vecto3Float(wristLeft.X - elbowLeft.X, wristLeft.Y - elbowLeft.Y, wristLeft.Z - elbowLeft.Z); Vecto3Float upperArmRight = new Vecto3Float(shoulderRight.X - elbowRight.X, shoulderRight.Y - elbowRight.Y, shoulderRight.Z - elbowRight.Z); Vecto3Float lowerArmRight = new Vecto3Float(wristRight.X - elbowRight.X, wristRight.Y - elbowRight.Y, wristRight.Z - elbowRight.Z); Vecto3Float shoulderLToHipLeft = new Vecto3Float(shoulderLeft.X - hipLeft.X, shoulderLeft.Y - hipLeft.Y, shoulderLeft.Z - hipLeft.Z); Vecto3Float shoulderRToHipRight = new Vecto3Float(shoulderRight.X - hipRight.X, shoulderRight.Y - hipRight.Y, shoulderRight.Z - hipRight.Z); Vecto3Float shoulderLToShoulderC = new Vecto3Float(shoulderLeft.X - shoulderCenter.X, shoulderLeft.Y - shoulderCenter.Y, shoulderLeft.Z - shoulderCenter.Z); Vecto3Float shoulderRToShoulderC = new Vecto3Float(shoulderRight.X - shoulderCenter.X, shoulderRight.Y - shoulderCenter.Y, shoulderRight.Z - shoulderCenter.Z); if (hipLeft.Z + 0.15 > elbowLeft.Z) //if the elbow is in front of the hip { //Shoulder Roll //Left if (Math.Abs(shoulderLeft.Z - elbowLeft.Z) < 0.1 && Math.Abs(shoulderLeft.X - elbowLeft.X) < 0.1) { this.jointAngles[NAOConversion.LShoulderRoll] = NAOConversion.convertAngle(NAOConversion.LShoulderRoll, Kinematic.getAngleNew(upperArmLeft.projectionOntoXY(), shoulderLToHipLeft.projectionOntoXY())); } else { this.jointAngles[NAOConversion.LShoulderRoll] = NAOConversion.convertAngle(NAOConversion.LShoulderRoll, Kinematic.getAngleNew(upperArmLeft.projectionOntoZX(), shoulderLToHipLeft.projectionOntoZX())); } //Shoulder Pitch //Left this.jointAngles[NAOConversion.LShoulderPitch] = NAOConversion.convertAngle(NAOConversion.LShoulderPitch, Kinematic.getAngleNew(upperArmLeft.projectionOntoZY(), shoulderLToHipLeft.projectionOntoZY())); } if (hipRight.Z + 0.15 > elbowRight.Z)//if the elbow is in front of the hip { //Shoulder Roll //Right if (Math.Abs(shoulderRight.Z - elbowRight.Z) < 0.1 && Math.Abs(shoulderRight.X - elbowRight.X) < 0.1) { this.jointAngles[NAOConversion.RShoulderRoll] = NAOConversion.convertAngle(NAOConversion.RShoulderRoll, Kinematic.getAngleNew(upperArmRight.projectionOntoXY(), shoulderRToHipRight.projectionOntoXY())); } else { this.jointAngles[NAOConversion.RShoulderRoll] = NAOConversion.convertAngle(NAOConversion.RShoulderRoll, Kinematic.getAngleNew(upperArmRight.projectionOntoZX(), shoulderRToHipRight.projectionOntoZX())); } //Shoulder Pitch //Right this.jointAngles[NAOConversion.RShoulderPitch] = NAOConversion.convertAngle(NAOConversion.RShoulderPitch, Kinematic.getAngleNew(shoulderRToHipRight.projectionOntoZY(), upperArmRight.projectionOntoZY())); } //Elbow Roll //Left this.jointAngles[NAOConversion.LElbowRoll] = NAOConversion.convertAngle(NAOConversion.LElbowRoll, Kinematic.getAngleNew(upperArmLeft, lowerArmLeft)); //Right this.jointAngles[NAOConversion.RElbowRoll] = NAOConversion.convertAngle(NAOConversion.RElbowRoll, Kinematic.getAngleNew(upperArmRight, lowerArmRight)); //Elbow Yaw ////Left Vecto3Float shoulderLTohipCenter = new Vecto3Float(shoulderLeft.X - hipCenter.X, shoulderLeft.Y - hipCenter.Y, shoulderLeft.Z - hipCenter.Z); Vecto3Float lCrossCenterArm = upperArmLeft.cross(shoulderLTohipCenter); Vecto3Float lCrossArms = upperArmLeft.cross(lowerArmLeft); float lElbowYaw = Kinematic.getAngleNew(lCrossCenterArm, lCrossArms); this.jointAngles[NAOConversion.LElbowYaw] = NAOConversion.convertAngle(NAOConversion.LElbowYaw, lElbowYaw); //Right Vecto3Float shoulderRTohipCenter = new Vecto3Float(shoulderRight.X - hipCenter.X, shoulderRight.Y - hipCenter.Y, shoulderRight.Z - hipCenter.Z); Vecto3Float rCrossCenterArm = upperArmRight.cross(shoulderRTohipCenter); Vecto3Float rCrossArms = upperArmRight.cross(lowerArmRight); float rElbowYaw = Kinematic.getAngleNew(rCrossCenterArm, rCrossArms); this.jointAngles[NAOConversion.RElbowYaw] = NAOConversion.convertAngle(NAOConversion.RElbowYaw, rElbowYaw); }