public override string ToString()
{
StringBuilder __sb = new StringBuilder("MSimulationResult(");
__sb.Append(", Posture: ");
__sb.Append(Posture == null ? "<null>" : Posture.ToString());
if (Constraints != null && __isset.Constraints)
{
__sb.Append(", Constraints: ");
__sb.Append(Constraints);
}
if (Events != null && __isset.Events)
{
__sb.Append(", Events: ");
__sb.Append(Events);
}
if (SceneManipulations != null && __isset.SceneManipulations)
{
__sb.Append(", SceneManipulations: ");
__sb.Append(SceneManipulations);
}
if (DrawingCalls != null && __isset.DrawingCalls)
{
__sb.Append(", DrawingCalls: ");
__sb.Append(DrawingCalls);
}
if (LogData != null && __isset.LogData)
{
__sb.Append(", LogData: ");
__sb.Append(LogData);
}
__sb.Append(")");
return(__sb.ToString());
}
public override string ToString()
{
StringBuilder __sb = new StringBuilder("MIKServiceResult(");
__sb.Append(", Posture: ");
__sb.Append(Posture == null ? "<null>" : Posture.ToString());
__sb.Append(", Success: ");
__sb.Append(Success);
__sb.Append(", Error: ");
__sb.Append(Error);
__sb.Append(")");
return(__sb.ToString());
}
public override string ToString()
{
StringBuilder __sb = new StringBuilder("MPostureConstraint(");
__sb.Append(", Posture: ");
__sb.Append(Posture == null ? "<null>" : Posture.ToString());
if (JointConstraints != null && __isset.JointConstraints)
{
__sb.Append(", JointConstraints: ");
__sb.Append(JointConstraints);
}
__sb.Append(")");
return(__sb.ToString());
}
public override string ToString()
{
StringBuilder __sb = new StringBuilder("GetGraspPoses_args(");
bool __first = true;
if (Posture != null && __isset.posture)
{
if (!__first)
{
__sb.Append(", ");
}
__first = false;
__sb.Append("Posture: ");
__sb.Append(Posture == null ? "<null>" : Posture.ToString());
}
if (__isset.handType)
{
if (!__first)
{
__sb.Append(", ");
}
__first = false;
__sb.Append("HandType: ");
__sb.Append(HandType);
}
if (SceneObject != null && __isset.sceneObject)
{
if (!__first)
{
__sb.Append(", ");
}
__first = false;
__sb.Append("SceneObject: ");
__sb.Append(SceneObject == null ? "<null>" : SceneObject.ToString());
}
if (__isset.repositionHand)
{
if (!__first)
{
__sb.Append(", ");
}
__first = false;
__sb.Append("RepositionHand: ");
__sb.Append(RepositionHand);
}
__sb.Append(")");
return(__sb.ToString());
}
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
using (DrawingContext dc = this.drawingGroup.Open())
{
// Dibuja fondo oscuro
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
RenderClippedEdges(skel, dc);
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
Vector3 manoD = new Vector3();
manoD.X = skel.Joints[JointType.HandRight].Position.X;
manoD.Y = skel.Joints[JointType.HandRight].Position.Y;
manoD.Z = skel.Joints[JointType.HandRight].Position.Z;
Vector3 cabeza = new Vector3();
cabeza.X = skel.Joints[JointType.Head].Position.X;
cabeza.Y = skel.Joints[JointType.Head].Position.Y;
cabeza.Z = skel.Joints[JointType.Head].Position.Z;
Vector3 manoI = new Vector3();
manoI.X = skel.Joints[JointType.HandLeft].Position.X;
manoI.Y = skel.Joints[JointType.HandLeft].Position.Y;
manoI.Z = skel.Joints[JointType.HandLeft].Position.Z;
Vector3 hombroD = new Vector3();
hombroD.X = skel.Joints[JointType.ShoulderRight].Position.X;
hombroD.Y = skel.Joints[JointType.ShoulderRight].Position.Y;
hombroD.Z = skel.Joints[JointType.ShoulderRight].Position.Z;
Vector3 hombroI = new Vector3();
hombroI.X = skel.Joints[JointType.ShoulderLeft].Position.X;
hombroI.Y = skel.Joints[JointType.ShoulderLeft].Position.Y;
hombroI.Z = skel.Joints[JointType.ShoulderLeft].Position.Z;
Vector3 codoI = new Vector3();
codoI.X = skel.Joints[JointType.ElbowLeft].Position.X;
codoI.Y = skel.Joints[JointType.ElbowLeft].Position.Y;
codoI.Z = skel.Joints[JointType.ElbowLeft].Position.Z;
Vector3 codoD = new Vector3();
codoD.X = skel.Joints[JointType.ElbowRight].Position.X;
codoD.Y = skel.Joints[JointType.ElbowRight].Position.Y;
codoD.Z = skel.Joints[JointType.ElbowRight].Position.Z;
positionList.Add(new Vector3()
{
X = manoD.X,
Y = manoD.Y,
Z = manoD.Z,
date = DateTime.Now
});
SwipeRightToLeft();
if (positionList.Count() > 20)
{
positionList.RemoveAt(0);
}
if (Adelante(manoD, manoI, codoD, codoI))
{
if (PostureDetector(Posture.Adelante))
{
mensajemov.Text = previousPosture.ToString();
Robot robot = new Robot(com);
robot.caminar();
}
}
else if (Derecha(manoD, codoD, hombroD, cabeza))
{
if (PostureDetector(Posture.Derecha))
{
mensajemov.Text = previousPosture.ToString();
Robot robot = new Robot(com);
robot.derecha();
}
}
else if (Izquierda(manoI, codoI, hombroI, cabeza))
{
if (PostureDetector(Posture.Izquierda))
{
mensajemov.Text = previousPosture.ToString();
Robot robot = new Robot(com);
robot.izquierda();
}
}
else
if (PostureDetector(Posture.None))
{
mensajemov.Text = previousPosture.ToString();
}
}
else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(
this.centerPointBrush,
null,
this.SkeletonPointToScreen(skel.Position),
BodyCenterThickness,
BodyCenterThickness);
}
}
}
// Previene que el dibujo salgan del cuadro
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
