// Update is called once per frame
void Update()
{
switch (logStatus)
{
case LoggingStatus.Clear:
buffer.Clear(); // clear buffer
currentTime = 0.0f; // update current time
break;
case LoggingStatus.Active:
// record data
float[] row = new float[21];
currentTime += Time.deltaTime;
row[0] = currentTime; // timestamp
Vector3 handPosition = mplHand.transform.position;
row[1] = handPosition.x;
row[2] = handPosition.y;
row[3] = handPosition.z;
Quaternion handRotation = mplHand.transform.rotation;
row[4] = handRotation.w;
row[5] = handRotation.x;
row[6] = handRotation.y;
row[7] = handRotation.z;
PHAM_ManagerPro.ObjectPrimitive currentPrimitive = manager.GetPrimitive();
Vector3 objPosition = objPrimitives[currentPrimitive].transform.position;
row[8] = objPosition.x;
row[9] = objPosition.y;
row[10] = objPosition.z;
Quaternion objRotation = objPrimitives[currentPrimitive].transform.rotation;
row[11] = objRotation.w;
row[12] = objRotation.x;
row[13] = objRotation.y;
row[14] = objRotation.z;
row[15] = (float)arbiter.GetMovementState();
float[] forces = sensors.GetForceValues();
row[16] = forces[0];
row[17] = forces[1];
row[18] = forces[2];
row[19] = forces[3];
row[20] = forces[4];
// add to list
buffer.Add(row);
break;
case LoggingStatus.Pause:
break;
}
}
// Update is called once per frame
void Update()
{
float [] joints = arbiter.GetRightUpperArmAngles();
float [] force = sensors.GetForceValues();
string new_text = string.Format("SHOULDER FLEXION: {0}\n", joints[0].ToString("F1")) +
string.Format("SHOULDER ABDUCTION: {0}\n", joints[1].ToString("F1")) +
string.Format("HUMERAL ROTATION: {0}\n", joints[2].ToString("F1")) +
string.Format("ELBOW FLEXION: {0}\n", joints[3].ToString("F1")) +
string.Format("WRIST ROTATION: {0}\n", joints[4].ToString("F1")) +
string.Format("WRIST DEVIATION: {0}\n", joints[5].ToString("F1")) +
string.Format("WRIST FLEXION: {0}\n", joints[6].ToString("F1")) +
"\n-----------------------------------------\n\n" +
string.Format("THUMB FORCE: {0}\n", force[0].ToString("F1")) +
string.Format("INDEX FORCE: {0}\n", force[1].ToString("F1")) +
string.Format("MIDDLE FORCE: {0}\n", force[2].ToString("F1")) +
string.Format("RING FORCE: {0}\n", force[3].ToString("F1")) +
string.Format("LITTLE FORCE: {0}\n", force[4].ToString("F1"));
hud.text = new_text;
}
