Exemple #1
0
        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;
            }
        }
Exemple #2
0
        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());
            }
        }
Exemple #3
0
        /// <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
        }