public int[] getFinalAngles()
{
Skeleton first = skeleton;
int[] lastFewValues = new int[7];
HandPositionLower measures = new HandPositionLower(first);
double baseA = measures.getBaseAngle();
double horA = measures.getHorizonAngle();
double hDist = measures.getHandDistance();
PolygonAngles poly = new PolygonAngles(hDist);
double theta, phi;
theta = poly.getTheta();
phi = poly.getPhi();
Angles angles = new Angles(first);
lastFewValues[1] = round(180 - (int)Mathematics.toDegrees(baseA));
lastFewValues[2] = round(180 - (int)Mathematics.toDegrees(horA + phi));
lastFewValues[3] = round((int)Mathematics.toDegrees(theta) + 90);
lastFewValues[4] = round((int)Mathematics.toDegrees(theta) + 90);
lastFewValues[5] = round((int)Mathematics.toDegrees(Math.Acos(angles.s2l())));
lastFewValues[5] = Math.Min(180, Math.Max(90, 180 - lastFewValues[5] + 90 - 20));
lastFewValues[6] = round(180 - (int)Mathematics.toDegrees(Math.Acos(angles.el())) - 30);
if (lastFewValues[1] > 180)
{
lastFewValues[1] = 180;
}
return(lastFewValues);
}
void sensor_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
inputmethod = W.inputmethod;
skeletonFrame.CopySkeletonDataTo(allSkeletons);
//get the first tracked skeleton
Skeleton first = (from s in allSkeletons
where s.TrackingState == SkeletonTrackingState.Tracked
select s).FirstOrDefault();
// skeleton data may not be available
if (first == null)
{
return;
}
// display skeleton on window
displaySkeleton(first);
// Selecting the input method
switch (inputmethod)
{
case 0: // input version 1
Angles angles1 = new Angles(first);
AxisAngles = angles1.getFinalAngles();
break;
case 2: // input version 2
HandPosition angles2 = new HandPosition(first);
AxisAngles = angles2.getFinalAngles();
break;
case 1: // input version 3
HandPositionLower angles3 = new HandPositionLower(first);
AxisAngles = angles3.getFinalAngles();
break;
default:
MessageBox.Show("Error !!!");
break;
}
AxisAngles = medians.getNextMedian(AxisAngles);
// Displaying on GUI
W.axis1.Content = AxisAngles[1].ToString();
W.axis2.Content = AxisAngles[2].ToString();
W.axis3.Content = AxisAngles[3].ToString();
W.axis4.Content = AxisAngles[4].ToString();
W.axis5.Content = AxisAngles[5].ToString();
W.axis6.Content = AxisAngles[6].ToString();
if (W.RoboticArmMovement)
{
MoveRoboticArm(AxisAngles);
}
}
}
