/// <summary>
/// Copies current values to other joint angle.
/// </summary>
/// <param name="copy"></param>
public void copyTo(JointAngles copy)
{
copy.name = this.name;
copy.roll = this.roll;
copy.pitch = this.pitch;
copy.yaw = this.yaw;
copy.x = this.x;
copy.y = this.y;
copy.z = this.z;
copy.fConfidence = this.fConfidence;
}
/// <summary>
/// Makes new JointAngles from current values.
/// </summary>
/// <returns></returns>
public JointAngles copyJointAngles()
{
JointAngles copy = new JointAngles(this.name);
copy.roll = this.roll;
copy.pitch = this.pitch;
copy.yaw = this.yaw;
copy.x = this.x;
copy.y = this.y;
copy.z = this.z;
copy.fConfidence = this.fConfidence;
return copy;
}
/// <summary>
/// Calculates vector between two points in space.
/// </summary>
/// <param name="joint1">First point in space.</param>
/// <param name="joint2">Second point in space.</param>
/// <returns></returns>
private static List<float> getDirectionVector(JointAngles joint1, JointAngles joint2)
{
List<float> d_vec = new List<float>();
d_vec.Add(joint2.x - joint1.x);
d_vec.Add(joint2.y - joint1.y);
d_vec.Add(joint2.z - joint1.z);
return d_vec;
}
/// <summary>
/// Reads in joint data specified above.
/// </summary>
/// <param name="joint"></param>
/// <returns></returns>
public static JointAngles parseJoint(XElement joint)
{
JointAngles jointAngles = new JointAngles("Temp");
foreach (XElement element in joint.Descendants())
{
if (element.Name == "Position")
{
foreach (XElement position in element.Descendants())
{
if (position.Name == "X")
jointAngles.x = float.Parse(position.Value);
else if (position.Name == "Y")
jointAngles.y = float.Parse(position.Value);
else if (position.Name == "Z")
jointAngles.z = float.Parse(position.Value);
}
}
else if (element.Name == "Angles")
{
foreach (XElement position in element.Descendants())
{
if (position.Name == "Roll")
jointAngles.roll = float.Parse(position.Value);
else if (position.Name == "Yaw")
jointAngles.yaw = float.Parse(position.Value);
else if (position.Name == "Pitch")
jointAngles.pitch = float.Parse(position.Value);
}
}
}
return jointAngles;
}
