public static IEnumerable <Pose> ShoulderAbduction(int numberOfRepetitions = 3)
{
BodyTransform leftUp = new BodyTransform();
leftUp = leftUp.Compose(JointType.ElbowLeft, new SetJointDirectionTransform(-1, 0, 0));
leftUp = leftUp.Compose(JointType.WristLeft, new SetJointDirectionTransform(-1, 0, 0));
leftUp = leftUp.Compose(JointType.ElbowRight, new SetJointDirectionTransform(0, -1, 0));
leftUp = leftUp.Compose(JointType.WristRight, new SetJointDirectionTransform(0, -1, 0));
Pose leftPose = new Pose("leftUp", leftUp);
BodyTransform rightUp = new BodyTransform();
rightUp = rightUp.Compose(JointType.ElbowLeft, new SetJointDirectionTransform(0, -1, 0));
rightUp = rightUp.Compose(JointType.WristLeft, new SetJointDirectionTransform(0, -1, 0));
rightUp = rightUp.Compose(JointType.ElbowRight, new SetJointDirectionTransform(1, 0, 0));
rightUp = rightUp.Compose(JointType.WristRight, new SetJointDirectionTransform(1, 0, 0));
Pose rightPose = new Pose("rightUp", rightUp);
for (int i = 0; i < numberOfRepetitions; ++i)
{
yield return(leftPose);
yield return(rightPose);
}
}
public static IEnumerable <Pose> PassiveExternalRotation(int numberOfRepetitions = 4)
{
// Create the left pose and set both arms to point down
BodyTransform leftTransform = new BodyTransform();
leftTransform = leftTransform.Compose(JointType.ElbowLeft, new SetJointDirectionTransform(0, -1, 0));
leftTransform = leftTransform.Compose(JointType.WristLeft, new SetJointDirectionTransform(-0.7, 0, 0.7));
leftTransform = leftTransform.Compose(JointType.ElbowRight, new SetJointDirectionTransform(0, -1, 0));
leftTransform = leftTransform.Compose(JointType.WristRight, new SetJointDirectionTransform(0, 0, 1));
Pose leftPose = new Pose("DontTwistHipRestriction-l", leftTransform, BodyRestrictionBuilder.DontTwistHipRestriction(5));
// Create the left pose and set both arms to point down
BodyTransform rightTransform = new BodyTransform();
rightTransform = rightTransform.Compose(JointType.ElbowLeft, new SetJointDirectionTransform(0, -1, 0));
rightTransform = rightTransform.Compose(JointType.WristLeft, new SetJointDirectionTransform(0, 0, 1));
rightTransform = rightTransform.Compose(JointType.ElbowRight, new SetJointDirectionTransform(0, -1, 0));
rightTransform = rightTransform.Compose(JointType.WristRight, new SetJointDirectionTransform(0.7, 0, 0.7));
Pose rightPose = new Pose("DontTwistHipRestriction-r", rightTransform, BodyRestrictionBuilder.DontTwistHipRestriction(5));
for (int i = 0; i < numberOfRepetitions; ++i)
{
yield return(leftPose);
yield return(rightPose);
}
}
public BodyTransform Aggregate(Func <JointType, BodyTransform> func)
{
var result = new BodyTransform();
foreach (var joint in this.Joints)
{
var that = func(joint);
result = result.Compose(that);
}
return(result);
}
public static IEnumerable<Pose> ShoulderFlexion(int numberOfRepetitions = 3)
{
BodyTransform leftUp = new BodyTransform();
leftUp = leftUp.Compose(JointType.ElbowLeft, new SetJointDirectionTransform(0, 1, 0));
leftUp = leftUp.Compose(JointType.WristLeft, new SetJointDirectionTransform(0, 1, 0));
leftUp = leftUp.Compose(JointType.ElbowRight, new SetJointDirectionTransform(0, -1, 0));
leftUp = leftUp.Compose(JointType.WristRight, new SetJointDirectionTransform(0, -1, 0));
Pose leftPose = new Pose("leftUp", leftUp);
BodyTransform rightUp = new BodyTransform();
rightUp = rightUp.Compose(JointType.ElbowLeft, new SetJointDirectionTransform(0, -1, 0));
rightUp = rightUp.Compose(JointType.WristLeft, new SetJointDirectionTransform(0, -1, 0));
rightUp = rightUp.Compose(JointType.ElbowRight, new SetJointDirectionTransform(0, 1, 0));
rightUp = rightUp.Compose(JointType.WristRight, new SetJointDirectionTransform(0, 1, 0));
Pose rightPose = new Pose("rightUp", rightUp);
for (int i = 0; i < numberOfRepetitions; ++i)
{
yield return (leftPose);
yield return (rightPose);
}
}
public static IEnumerable<Pose> PassiveExternalRotation(int numberOfRepetitions = 4)
{
// Create the left pose and set both arms to point down
BodyTransform leftTransform = new BodyTransform();
leftTransform = leftTransform.Compose(JointType.ElbowLeft, new SetJointDirectionTransform(0, -1, 0));
leftTransform = leftTransform.Compose(JointType.WristLeft, new SetJointDirectionTransform(-0.7, 0, 0.7));
leftTransform = leftTransform.Compose(JointType.ElbowRight, new SetJointDirectionTransform(0, -1, 0));
leftTransform = leftTransform.Compose(JointType.WristRight, new SetJointDirectionTransform(0, 0, 1));
Pose leftPose = new Pose("DontTwistHipRestriction-l", leftTransform, BodyRestrictionBuilder.DontTwistHipRestriction(5));
// Create the left pose and set both arms to point down
BodyTransform rightTransform = new BodyTransform();
rightTransform = rightTransform.Compose(JointType.ElbowLeft, new SetJointDirectionTransform(0, -1, 0));
rightTransform = rightTransform.Compose(JointType.WristLeft, new SetJointDirectionTransform(0, 0, 1));
rightTransform = rightTransform.Compose(JointType.ElbowRight, new SetJointDirectionTransform(0, -1, 0));
rightTransform = rightTransform.Compose(JointType.WristRight, new SetJointDirectionTransform(0.7, 0, 0.7));
Pose rightPose = new Pose("DontTwistHipRestriction-r", rightTransform, BodyRestrictionBuilder.DontTwistHipRestriction(5));
for (int i = 0; i < numberOfRepetitions; ++i)
{
yield return (leftPose);
yield return (rightPose);
}
}
