protected override List<PoseProfile> CoreParameterToPose(bool right = true)
{
double width = Parameters["Width"].Value;
double height = Parameters["Height"].Value;
double palmdir = Parameters["PalmDir"].Value;
double finger = Parameters["Finger"].Value;
double headud = Parameters["HeadUpDown"].Value;
double headlr = Parameters["HeadLeftRight"].Value;
double shoulderPitch_open = -20*height+90;
double shoulderRoll_open = -20 * width -10;
double elbowYaw_open = 29.5*width + 90;
double elbowRoll_open = 88.5;
double wristYaw_open = 60*palmdir;
double hand_open = 1;
double shoulderPitch_close = -25*height+70;
double shoulderRoll_close = -10*width+10;
double elbowYaw_close = -10*width+65;
double elbowRoll_close = 88.5;
double wristYaw_close = -20;
double hand_close = 0.2 * finger + 0.6;
// degree
double headPitch = base.NormalizeHeadPitch(headud);
// degree
double headYaw = double.NaN;
RArm rarmposeopen = new RArm(false,
shoulderPitch_open, shoulderRoll_open,
elbowYaw_open, elbowRoll_open,
wristYaw_open, hand_open);
LArm larmposeopen = (LArm)rarmposeopen.MirrorLeftRight();
RArm rarmposeclose = new RArm(false,
shoulderPitch_close, shoulderRoll_close,
elbowYaw_close, elbowRoll_close,
wristYaw_close, hand_close);
LArm larmposeclose = (LArm)rarmposeclose.MirrorLeftRight();
Head head = new Head(false, headPitch, headYaw);
PoseProfile arm_r_pose_open = new PoseProfile("OpenPose", rarmposeopen, true, 0.3, 0);
PoseProfile arm_l_pose_open = new PoseProfile("OpenPose", larmposeopen, true, 0.3, 0);
PoseProfile head_pose = new PoseProfile("OpenPose", head);
PoseProfile arm_r_pose_close = new PoseProfile("ClosePose", rarmposeclose, true, 1, 0);
PoseProfile arm_l_pose_close = new PoseProfile("ClosePose", larmposeclose, true, 1, 0);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(arm_r_pose_open);
lpp.Add(arm_l_pose_open);
lpp.Add(head_pose);
lpp.Add(arm_r_pose_close);
lpp.Add(arm_l_pose_close);
return lpp;
}
protected override List<PoseProfile> CoreParameterToPose(bool right = true)
{
double width = Parameters["Width"].Value;
double amplitude = Parameters["Amplitude"].Value;
double palmdir = Parameters["PalmDir"].Value;
double finger = Parameters["Finger"].Value;
double headud = Parameters["HeadUpDown"].Value;
double headlr = Parameters["HeadLeftRight"].Value;
// width
double shldroll = -20 * width;
double elbyaw = 25 * width + 65;
// high pose
double shldptch_high = -15 * amplitude + 45;
double elbroll_high = 13.5 * amplitude + 75;
// low pose
double shldptch_low = 5 * amplitude + 85;
double elbroll_low = 15 * amplitude + 60;
double hand = 0.3 * finger + 0.5;
double wristyaw = 60 * palmdir + 30;
// degree
double headPitch = base.NormalizeHeadPitch(headud);
// degree
double headYaw = double.NaN;
Head head = new Head(false, headPitch, headYaw);
RArm rarm_high = new RArm(false, shldptch_high, shldroll, elbyaw, elbroll_high, wristyaw, hand);
RArm rarm_low = new RArm(false, shldptch_low, shldroll, elbyaw, elbroll_low, wristyaw, hand);
LArm larm_high = (LArm)rarm_high.MirrorLeftRight();
LArm larm_low = (LArm)rarm_low.MirrorLeftRight();
// Joints
PoseProfile pose_head = new PoseProfile("Pose1", head);
PoseProfile pose_larm_high = new PoseProfile("Pose1", larm_high);
PoseProfile pose_larm_low = new PoseProfile("Pose2", larm_low);
PoseProfile pose_rarm_high = new PoseProfile("Pose2", rarm_high);
PoseProfile pose_rarm_low = new PoseProfile("Pose3", rarm_low);
PoseProfile pose_larm_high1 = new PoseProfile("Pose3", larm_high);
PoseProfile pose_larm_low1 = new PoseProfile("Pose4", larm_low);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pose_head);
lpp.Add(pose_larm_high);
lpp.Add(pose_larm_low);
lpp.Add(pose_rarm_high);
lpp.Add(pose_rarm_low);
lpp.Add(pose_larm_high1);
lpp.Add(pose_larm_low1);
return lpp;
}
protected override List<PoseProfile> CoreParameterToPose(bool right = true)
{
double width = Parameters["Width"].Value;
double amp = Parameters["Amplitude"].Value;
double palmdir = Parameters["PalmDir"].Value;
double finger = Parameters["Finger"].Value;
double headud = Parameters["HeadUpDown"].Value;
double headlr = Parameters["HeadLeftRight"].Value;
double shoulderRoll = -30 * width;
double elbowYaw = 39.5 * width + 80;
double elbowRollLow = -28 * amp + 30;
double elbowRollHigh = 28.5 * amp + 60;
double shoulderPitchLow = 20 * amp + 70;
double shoulderPitchHigh = -10 * amp + 30;
double wristYaw = 74 * palmdir + 30;
// finger 0~1
double hand = 0.4 * finger + 0.6;
// degree
double headPitch = base.NormalizeHeadPitch(headud);
// degree
double headYaw = double.NaN;
RArm rarmposelow = new RArm(false,shoulderPitchLow,shoulderRoll,elbowYaw,elbowRollLow,wristYaw,hand);
LArm larmposelow = (LArm)rarmposelow.MirrorLeftRight();
RArm rarmposehigh = new RArm(false,shoulderPitchHigh,shoulderRoll,elbowYaw,elbowRollHigh,wristYaw,hand);
LArm larmposehigh = (LArm)rarmposehigh.MirrorLeftRight();
Head head = new Head(false, headPitch, headYaw);
PoseProfile arm_r_pose_low = new PoseProfile("LowPose", rarmposelow, true, 0.3, 0);
PoseProfile arm_l_pose_low = new PoseProfile("LowPose", larmposelow, true, 0.3, 0);
PoseProfile head_pose = new PoseProfile("LowPose", head);
PoseProfile arm_r_pose_high = new PoseProfile("HighPose", rarmposehigh, true, 1, 0);
PoseProfile arm_l_pose_high = new PoseProfile("HighPose", larmposehigh, true, 1, 0);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(arm_r_pose_low);
lpp.Add(arm_l_pose_low);
lpp.Add(head_pose);
lpp.Add(arm_r_pose_high);
lpp.Add(arm_l_pose_high);
return lpp;
}
protected override List<PoseProfile> CoreParameterToPose(bool right = true)
{
double width = Parameters["Width"].Value;
double height = Parameters["Height"].Value;
double finger = Parameters["Finger"].Value;
double headud = Parameters["HeadUpDown"].Value;
double headlr = Parameters["HeadLeftRight"].Value;
// right
double shldroll_r =-15*width -5;
double elbyaw_r =90;
double shldptch_r =-40*height+90;
double elbroll_r =28.5*height+60;
double wristyaw_r =74.5*height+30;
double hand_r =0.3*finger+0.5;
// degree
double headPitch = base.NormalizeHeadPitch(headud);
double headYaw = double.NaN;
Head head = new Head(false, headPitch, headYaw);
RArm rarm_one = new RArm(false, shldptch_r, shldroll_r,
elbyaw_r, elbroll_r, wristyaw_r, hand_r);
LArm larm_theother = (LArm)rarm_one.MirrorLeftRight();
// Joints
PoseProfile pose_head = new PoseProfile("Prepare", head);
List<PoseProfile> lpp_prepare = base.ArmChest("Prepare");
PoseProfile pose_rarm_one = new PoseProfile("One", rarm_one);
PoseProfile pose_larm_theother = new PoseProfile("TheOther", larm_theother);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pose_head);
lpp.AddRange(lpp_prepare);
lpp.Add(pose_rarm_one);
lpp.Add(pose_larm_theother);
return lpp;
}
protected List<PoseProfile> StandArmPose(string mfname)
{
RArm armR = new RArm(
false,
86,
-7,
68,
23.5,
6,
0.3);
LArm armL = (LArm)armR.MirrorLeftRight();
PoseProfile armppR = new PoseProfile(mfname, armR);
PoseProfile armppL = new PoseProfile(mfname, armL);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(armppR);
lpp.Add(armppL);
return lpp;
}
