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)); } }