//touch_restriction : 'touch' 'your'? body_part 'with' 'your'? side 'hand';
public override Wrapper VisitTouch_restriction(PreposeGesturesParser.Touch_restrictionContext context)
{
var joint = (JointGroup)this.Visit(context.body_part());
var side = (JointSide)this.Visit(context.side());
CompositeBodyRestriction restriction = joint.Aggregate(j => new TouchBodyRestriction(j, side, 0.2, dont));
return(new Wrapper(restriction));
}
public override Wrapper VisitPose(PreposeGesturesParser.PoseContext context)
{
var bt = new CompositeBodyTransform();
var br = new CompositeBodyRestriction();
var ds = new CompositeDelayedStatement();
foreach (var s in context.statement())
{
Contract.Assert(s != null);
var w = this.Visit(s);
Contract.Assert(w != null);
var statement = w.GetValue();
if (statement != null)
{
if (statement is CompositeBodyTransform)
{
bt = bt.Compose((CompositeBodyTransform)statement);
continue;
}
if (statement is CompositeBodyRestriction)
{
br = br.And((CompositeBodyRestriction)statement);
continue;
}
if (statement is CompositeDelayedStatement)
{
ds = ds.Compose((CompositeDelayedStatement)statement);
continue;
}
throw new ArgumentException("Wrong return type");
}
}
var pose = new Pose(context.ID().GetText(), bt, br, ds);
if (this.Poses.ContainsKey(pose.Name))
{
throw new ArgumentException("Pose " + pose.Name + " has been previosly seen.");
}
this.Poses.Add(pose.Name, pose);
return(new Wrapper(pose));
}
//align your body_part and your body_part;
public override Wrapper VisitAlign_restriction(PreposeGesturesParser.Align_restrictionContext context)
{
var target = (JointGroup)this.Visit(context.body_part()[context.body_part().Count - 1]);
CompositeBodyRestriction restriction = new CompositeBodyRestriction();
for (int i = 0; i < context.body_part().Count - 1; ++i)
{
var joint = (JointGroup)this.Visit(context.body_part()[i]);
restriction = restriction.And(
target.Aggregate(j2 =>
joint.Aggregate(j1 => new AlignBodyRestriction(j1, j2, 20, dont))));
}
return(new Wrapper(restriction));
}
// TODO test this logic to aggergate restrictions
//put_restriction : 'put' 'your'? body_part relative_direction body_part;
public override Wrapper VisitPut_restriction(PreposeGesturesParser.Put_restrictionContext context)
{
var target = (JointGroup)this.Visit(context.body_part()[context.body_part().Count - 1]);
var direction = (RelativeDirection)this.Visit(context.relative_direction());
CompositeBodyRestriction restriction = new CompositeBodyRestriction();
for (int i = 0; i < context.body_part().Count - 1; ++i)
{
var joint = (JointGroup)this.Visit(context.body_part()[i]);
restriction = restriction.And(
target.Aggregate(j2 =>
joint.Aggregate(j1 => new PutBodyRestriction(j1, j2, direction, dont))));
}
return(new Wrapper(restriction));
}
public override Wrapper VisitPose(PreposeGesturesParser.PoseContext context)
{
var bt = new BodyTransform();
var br = new CompositeBodyRestriction();
foreach (var s in context.statement())
{
Contract.Assert(s != null);
var w = this.Visit(s);
if (w == null)
{
throw new PreposeParserException("Failed to parse statement", s);
}
var statement = w.GetValue();
if (statement != null)
{
if (statement is BodyTransform)
{
bt = bt.Compose((BodyTransform)statement);
continue;
}
if (statement is CompositeBodyRestriction)
{
br = br.And((CompositeBodyRestriction)statement);
continue;
}
throw new PreposeParserException("Invalid return type", s);
}
}
var pose = new Pose(context.ID().GetText(), bt, br);
if (this.Poses.ContainsKey(pose.Name))
{
throw new PreposeParserException("Pose " + pose.Name + " has been previously seen.", context);
}
this.Poses.Add(pose.Name, pose);
return(new Wrapper(pose));
}
