protected override List<PoseProfile> CoreParameterToPose(bool right = true)
{
double width = Parameters["Width"].Value;
double height = Parameters["Height"].Value;
double palmdir = Parameters["PalmDirection"].Value;
double finger = Parameters["Finger"].Value;
double headud = Parameters["HeadUpDown"].Value;
double headlr = Parameters["HeadLeftRight"].Value;
double lsrA = 5 * width + 25;
double rsrA = 8 * width + 10;
double lerA = -30;
double rerA = 30;
double lspA = -20 * height + 40;
double rspA = -15 * height + 40;
double leyA = -105*palmdir + 15;
double reyA = 60 * palmdir - 15;
double lwyA = -90 * palmdir;
double rwyA = 104 * palmdir;
double lsrB = -8 * width - 10;
double rsrB = -10 * width - 10;
double lerB = -15 * width - 30;
double rerB = 30;
double lspB = -20 * height + 40;
double rspB = -20 * height + 40;
double leyB = -45 * palmdir + 15;
double reyB = 90*palmdir;
double lwyB = -104 * palmdir;
double rwyB = 90 * palmdir;
// finger 0~1
double hand = 0.4 * finger + 0.6;
// degree
double headPitch = base.NormalizeHeadPitch(headud);
// degree
double headYaw = 30.0 * headlr;
LArm larmA = new LArm(false, lspA, lsrA, leyA, lerA, lwyA, hand);
RArm rarmA = new RArm(false, rspA, rsrA, reyA, rerA, rwyA, hand);
LArm larmB = new LArm(false, lspB, lsrB, leyB, lerB, lwyB, hand);
RArm rarmB = new RArm(false, rspB, rsrB, reyB, rerB, rwyB, hand);
Head head = new Head(false, headPitch, headYaw);
// Joints
PoseProfile pose_A_arm_l = new PoseProfile("FromA", larmA);
PoseProfile pose_A_arm_r = new PoseProfile("FromA", rarmA);
PoseProfile pose_A_head = new PoseProfile("FromA", head);
PoseProfile pose_B_arm_l = new PoseProfile("ToB", larmB);
PoseProfile pose_B_arm_r = new PoseProfile("ToB", rarmB);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pose_A_arm_l);
lpp.Add(pose_A_arm_r);
lpp.Add(pose_A_head);
lpp.Add(pose_B_arm_l);
lpp.Add(pose_B_arm_r);
return lpp;
}
protected override List<PoseProfile> CoreParameterToPose(bool right = true)
{
double amp = Parameters["Amplitude"].Value;
double height = Parameters["Height"].Value;
double finger = Parameters["Finger"].Value;
double headud = Parameters["HeadUpDown"].Value;
double lsr = 3*height-18;
double rsr = 15*height;
double lsp = 10*height+50;
double rsp = 30*height+30;
double ley = 5*height-5;
double rey = 25*height+15;
double ler = 15*height-50;
double rer = -20*height+80;
double lwy = -90;
double rwy = -45;
// finger 0~1
double hand = 0.6 * finger;
// degree
double headPitch = base.NormalizeHeadPitch(headud);
// -30 ~ 30 degree
double headYaw_L = 10.0 * amp + 20;
double headYaw_R = -10.0 * amp - 20;
LArm larm = new LArm(false, lsp, lsr, ley, ler, lwy, hand);
RArm rarm = new RArm(false, rsp, rsr, rey, rer, rwy, hand);
Head lhead = new Head(false, headPitch, headYaw_L);
Head rhead = new Head(false, headPitch, headYaw_R);
// Joints
PoseProfile pose_close_arm_l = new PoseProfile("ArmClose", larm);
PoseProfile pose_close_arm_r = new PoseProfile("ArmClose", rarm);
PoseProfile pose_look_left;
PoseProfile pose_look_right;
if (headud >= 0) // positive
{
pose_look_left = new PoseProfile("LookLeft", lhead, true, 0, 0.05);
pose_look_right = new PoseProfile("LookRight", rhead, true, 0, 0.05);
}
else // negative
{
pose_look_left = new PoseProfile("LookLeft", lhead, true);
pose_look_right = new PoseProfile("LookRight", rhead, true);
}
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pose_close_arm_l);
lpp.Add(pose_close_arm_r);
lpp.Add(pose_look_left);
lpp.Add(pose_look_right);
return lpp;
}
protected override List<PoseProfile> CoreParameterToPose(bool right = true)
{
double fpwidth = Parameters["FrontPoseWidth"].Value;
double fpheight = Parameters["FrontPoseHeight"].Value;
double cpheight = Parameters["ChestPoseHeight"].Value;
double finger = Parameters["Finger"].Value;
double headud = Parameters["HeadUpDown"].Value;
double headlr = Parameters["HeadLeftRight"].Value;
double fp_shldroll = -30*fpwidth;
double fp_shldptch = -30*fpheight+60;
double fp_elbyaw = 89.5*fpwidth+30;
double fp_elbroll = 30*fpheight+30;
double fp_wrstyaw = 30;
double cp_shldroll = 5;
double cp_shldptch = -30*cpheight+60;
double cp_elbyaw = -20*cpheight+30;
double cp_elbroll = 88.5;
double cp_wrstyaw = 30;
// finger 0~1
double hand = 0.4 * finger + 0.6;
// degree
double headPitch = base.NormalizeHeadPitch(headud);
// - ~ degree
double headYaw;
if (headlr > 0.5) headYaw = -40 * headlr + 20;
else headYaw = 0;
RArm rarm_front = new RArm(false, fp_shldptch, fp_shldroll, fp_elbyaw, fp_elbroll, fp_wrstyaw, hand);
Head head = new Head(false, headPitch, headYaw);
RArm rarm_chest = new RArm(false, cp_shldptch, cp_shldroll, cp_elbyaw, cp_elbroll, cp_wrstyaw, hand);
LArm larm = new LArm(false, 84.6, 15, -68, -40, 5.7, 0.3);
// Joints
PoseProfile pose_front_arm_r = new PoseProfile("FrontPose", rarm_front, true);
PoseProfile pose_front_head = new PoseProfile("FrontPose", head);
PoseProfile pose_front_arm_l = new PoseProfile("FrontPose", larm);
PoseProfile pose_chest_arm_r = new PoseProfile("ChestPose", rarm_chest, true);
List<PoseProfile> lppbow = BendTorsoSmall("FrontPose");
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pose_front_arm_r);
lpp.Add(pose_front_head);
lpp.Add(pose_front_arm_l);
lpp.Add(pose_chest_arm_r);
lpp.AddRange(lppbow);
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;
double lsr = 30 * width;
double rsr = -30 * width;
double lsp = 10 * height + 60;
double rsp = -55 * height + 20;
double ley = -10 * height - 50;
double rey = 20 * height + 60;
double ler = -45;
double rer = -15 * height + 75;
double lwy = 10 * height - 100;
double rwy = 30 * height - 30;
// finger 0~1
double hand = 0.4 * finger + 0.6;
// degree
double headPitch = base.NormalizeHeadPitch(headud);
// degree
double headYaw = double.NaN;
LArm larm = new LArm(false, lsp, lsr, ley, ler, lwy, hand);
RArm rarm = new RArm(false, rsp, rsr, rey, rer, rwy, hand);
Head head = new Head(false, headPitch, headYaw);
LArm larm_close = new LArm(false, 60, -15, -20, -55, -104.5, hand);
RArm rarm_close = new RArm(false, 35, 15, 20, 75, -40, hand);
// Joints
PoseProfile pose_open_arm_l = new PoseProfile("ArmOpen", larm, true, 0.3, 0);
PoseProfile pose_open_arm_r = new PoseProfile("ArmOpen", rarm, true, 0.3, 0);
PoseProfile pose_open_head = new PoseProfile("ArmOpen", head);
PoseProfile pose_close_arm_l = new PoseProfile("ArmClose", larm_close, true, 1, 0);
PoseProfile pose_close_arm_r = new PoseProfile("ArmClose", rarm_close, true, 1, 0);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pose_open_arm_l);
lpp.Add(pose_open_arm_r);
lpp.Add(pose_open_head);
lpp.Add(pose_close_arm_l);
lpp.Add(pose_close_arm_r);
return lpp;
}
public override JointChain DeepCopy()
{
JointChain jc = new LArm(true, this.ShoulderPitch, this.ShoulderRoll, this.ElbowYaw, this.ElbowRoll, this.WristYaw, this.Hand);
return jc;
}
/// <summary>
///
/// </summary>
/// <returns></returns>
public override JointChain MirrorLeftRight()
{
Arm m_arm = null;
if (this.Name == "RArm")
{
m_arm = new LArm(
true,
this.ShoulderPitch,
-this.ShoulderRoll,
-this.ElbowYaw,
-this.ElbowRoll,
-this.WristYaw,
this.Hand
);
}
else if (this.Name == "LArm")
{
m_arm = new RArm(
true,
this.ShoulderPitch,
-this.ShoulderRoll,
-this.ElbowYaw,
-this.ElbowRoll,
-this.WristYaw,
this.Hand
);
}
else
{
Debug.WriteLine("JointChainMirror: wrong arm joint chain name");
}
return m_arm;
}
protected List<PoseProfile> ArmChest(string mfname)
{
RArm armR = new RArm(
false,
60,
5,
50,
88.5,
15,
0);
LArm armL = new LArm(
false,
70,
-5,
-40,
-88.5,
-15,
0);
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;
}
