public void SetElbow(MotorController.utilities.Side hand, utilities.Position position)
{
switch (hand)
{
case MotorController.utilities.Side.Right:
RightElbowPosition = position;
break;
case MotorController.utilities.Side.Left:
LeftElbowPosition = position;
break;
}
}
public MotorController.utilities.Position GetHandPosition(MotorController.utilities.Side hand)
{
MotorController.utilities.Position position = new utilities.Position();
switch (hand)
{
case MotorController.utilities.Side.Right:
position = RightHandPosition;
return(position);
case MotorController.utilities.Side.Left:
position = LeftHandPosition;
return(position);
default:
return(new utilities.Position());
}
}
/// <summary>
/// get the fram body status and set my classes data from body parameter
/// </summary>
/// <param name="body">Body to get values from and fill the classes data </param>
void SetBodyFrameValues(Body body)
{
#region Right and left
#region elbow
utilities.Position elbowPosition = new utilities.Position();
elbowPosition.x = body.Joints[JointType.ElbowRight].Position.X;
elbowPosition.y = body.Joints[JointType.ElbowRight].Position.Y;
elbowPosition.z = body.Joints[JointType.ElbowRight].Position.Z;
elbow.SetElbow(utilities.Side.Right, elbowPosition);
////left Elbow
elbowPosition.x = body.Joints[JointType.ElbowLeft].Position.X;
elbowPosition.y = body.Joints[JointType.ElbowLeft].Position.Y;
elbowPosition.z = body.Joints[JointType.ElbowLeft].Position.Z;
elbow.SetElbow(utilities.Side.Left, elbowPosition);
#endregion // elbow
#region Wrist
utilities.Position wristPosition = new utilities.Position();
wristPosition.x = body.Joints[JointType.WristRight].Position.X;
wristPosition.y = body.Joints[JointType.WristRight].Position.Y;
wristPosition.z = body.Joints[JointType.WristRight].Position.Z;
wrist.SetWrist(utilities.Side.Right, wristPosition);
////left Wrist
wristPosition.x = body.Joints[JointType.WristLeft].Position.X;
wristPosition.y = body.Joints[JointType.WristLeft].Position.Y;
wristPosition.z = body.Joints[JointType.WristLeft].Position.Z;
wrist.SetWrist(utilities.Side.Left, wristPosition);
#endregion // Wrist
#region Shoulder
/// Right Shoulder
utilities.Position shoulderPosition = new utilities.Position();
shoulderPosition.x = body.Joints[JointType.ShoulderRight].Position.X;
shoulderPosition.y = body.Joints[JointType.ShoulderRight].Position.Y;
shoulderPosition.z = body.Joints[JointType.ShoulderRight].Position.Z;
shoulder.SetShoulder(utilities.Side.Right, shoulderPosition);
////left Shoulder
shoulderPosition.x = body.Joints[JointType.ShoulderLeft].Position.X;
shoulderPosition.y = body.Joints[JointType.ShoulderLeft].Position.Y;
shoulderPosition.z = body.Joints[JointType.ShoulderLeft].Position.Z;
shoulder.SetShoulder(utilities.Side.Left, shoulderPosition);
#endregion // Wrist
#region HandsPositions
clsHand.datachanged = true;
/// Right Hand
///
MotorController.utilities.Position handPosition = new utilities.Position();
handPosition.x = body.Joints[JointType.HandRight].Position.X;
handPosition.y = body.Joints[JointType.HandRight].Position.Y;
handPosition.z = body.Joints[JointType.HandRight].Position.Z;
hand.SetHandPosition(MotorController.utilities.Side.Right, handPosition);
hand.SetHandState(utilities.Side.Right, body.HandRightState);
// left Hand
handPosition.x = body.Joints[JointType.HandLeft].Position.X;
handPosition.y = body.Joints[JointType.HandLeft].Position.Y;
handPosition.z = body.Joints[JointType.HandLeft].Position.Z;
hand.SetHandPosition(MotorController.utilities.Side.Left, handPosition);
hand.SetHandState(utilities.Side.Left, body.HandLeftState);
//End of setting Hands
// Debug
this.txtRitght = body.Joints[JointType.HandRight].Position.X.ToString();
this.txtLeft = body.Joints[JointType.HandLeft].Position.X.ToString();
#endregion //Hands positions
#endregion // Right and left
}