public State getNextLegState(String stateName, String action)
{
//get state by name
State currentState = new State("");
if (legStates.TryGetValue(stateName, out currentState))
{
Transition transition;
if (currentState.getTransitions().TryGetValue(action, out transition))
{
return transition.getNewState();
}
}
Console.Out.WriteLine("::::::::::::::::");
return currentState;
}
public State getNextLegState(String stateName, String action)
{
//get state by name
State currentState = new State("");
if (legStates.TryGetValue(stateName, out currentState))
{
Transition transition;
if (currentState.getTransitions().TryGetValue(action, out transition))
{
return(transition.getNewState());
}
}
Console.Out.WriteLine("::::::::::::::::");
return(currentState);
}
public Dictionary <String, State> initBodyStates()
{
Dictionary <String, State> bodyList = new Dictionary <String, State>();
State state1 = new State(Constants.stateType.INTERMEDIATE, "");
state1.setName("D");
State state2 = new State(Constants.stateType.FINAL, "Aplecare laterala");
state2.setName("Al.D");
State state3 = new State(Constants.stateType.FINAL, "Ridicare din lateral");
state3.setName("D.Al");
State state4 = new State(Constants.stateType.FINAL, "Ridicare din asezat");
state4.setName("D.AfAs");
State state5 = new State(Constants.stateType.FINAL, "Aplecare frontala");
state5.setName("Af.D");
State state6 = new State(Constants.stateType.FINAL, "Asezare");
state6.setName("As.Af");
State state7 = new State(Constants.stateType.INTERMEDIATE, "");
state7.setName("Af.As");
State state8 = new State(Constants.stateType.FINAL, "Aplecare laterala din asezat");
state8.setName("Al.As");
State state9 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare frontala din asezat");
state9.setName("Af.AlAs");
State state10 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare laterala din asezat");
state10.setName("Al.AfAs");
State state11 = new State(Constants.stateType.FINAL, "Ridicare din lateral asezat");
state11.setName("As.AlAs");
State state12 = new State(Constants.stateType.FINAL, "Ridicare din frontal");
state12.setName("D.Af");
State state13 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare laterala din aplecare frontala");
state13.setName("Al.Af");
State state14 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare frontala din aplecare laterala");
state14.setName("Af.Al");
State state15 = new State(Constants.stateType.FINAL, "Ridicare din aplecat frontal asezat");
state15.setName("As.AfAs");
State state16 = new State(Constants.stateType.FINAL, "Cadere");
state16.setName("C");
state1.getTransitions().Add("drept", new Transition(0.2, "drept", state1));
state1.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state1.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state1.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state1.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state2.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state2.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state14));
state2.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state2.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state2.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state3.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state3.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state3.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state3.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state3.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state4.getTransitions().Add("drept", new Transition(0.2, "drept", state4));
state4.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state4.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state4.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state4.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state5.getTransitions().Add("drept", new Transition(0.2, "drept", state12));
state5.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state5.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state13));
state5.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state5.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state6.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state6.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state6.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state6.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state6.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state7.getTransitions().Add("drept", new Transition(0.2, "drept", state4));
state7.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state7.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state10));
state7.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state7.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state8.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state8.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state9));
state8.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state8.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state8.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state9.getTransitions().Add("drept", new Transition(0.2, "drept", state15));
state9.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state9));
state9.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state10));
state9.getTransitions().Add("asezat", new Transition(0.2, "asezat", state15));
state9.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state10.getTransitions().Add("drept", new Transition(0.2, "drept", state11));
state10.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state9));
state10.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state10));
state10.getTransitions().Add("asezat", new Transition(0.2, "asezat", state11));
state10.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state11.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state11.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state11.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state11.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state11.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state12.getTransitions().Add("drept", new Transition(0.2, "drept", state12));
state12.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state12.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state12.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state12.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state13.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state13.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state14));
state13.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state13));
state13.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state13.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state14.getTransitions().Add("drept", new Transition(0.2, "drept", state12));
state14.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state14));
state14.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state13));
state14.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state14.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state15.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state15.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state15.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state15.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state15.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
// TODO: modifica starea urmatoare
state16.getTransitions().Add("drept", new Transition(0.2, "drept", state1));
state16.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state16.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state16.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state16.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
bodyList.Add(state1.getName(), state1);
bodyList.Add(state2.getName(), state2);
bodyList.Add(state3.getName(), state3);
bodyList.Add(state4.getName(), state4);
bodyList.Add(state5.getName(), state5);
bodyList.Add(state6.getName(), state6);
bodyList.Add(state7.getName(), state7);
bodyList.Add(state8.getName(), state8);
bodyList.Add(state9.getName(), state9);
bodyList.Add(state10.getName(), state10);
bodyList.Add(state11.getName(), state11);
bodyList.Add(state12.getName(), state12);
bodyList.Add(state13.getName(), state13);
bodyList.Add(state14.getName(), state14);
bodyList.Add(state15.getName(), state15);
bodyList.Add(state16.getName(), state16);
return(bodyList);
}
public Dictionary <String, State> initLegStates()
{
Dictionary <String, State> legList = new Dictionary <String, State>();
State state1 = new State(Constants.stateType.INTERMEDIATE, "");
state1.setName("D");
State state2 = new State(Constants.stateType.INTERMEDIATE, "");
state2.setName("I.D");
State state3 = new State(Constants.stateType.FINAL, "Pas");
state3.setName("D.I");
State state4 = new State(Constants.stateType.FINAL, "Ridicare frontala");
state4.setName("Rf.D");
State state5 = new State(Constants.stateType.FINAL, "Ridicare laterala");
state5.setName("Rl.D");
State state6 = new State(Constants.stateType.FINAL, "Miscare circulara spre frontal");
state6.setName("Rf.Rl");
State state7 = new State(Constants.stateType.FINAL, "Coborare din frontal");
state7.setName("D.Rf");
State state8 = new State(Constants.stateType.INTERMEDIATE, "");
state8.setName("I");
State state9 = new State(Constants.stateType.FINAL, "Coborare din lateral");
state9.setName("D.Rl");
State state10 = new State(Constants.stateType.FINAL, "Miscare circulara spre lateral");
state10.setName("Rl.Rf");
state1.getTransitions().Add("drept", new Transition(0.2, "drept", state1));
state1.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state1.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state1.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state2.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state2.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state2.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state2.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state3.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state3.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state3.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state3.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state4.getTransitions().Add("drept", new Transition(0.2, "drept", state7)); // 3
state4.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state4.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state4.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // 2
state5.getTransitions().Add("drept", new Transition(0.2, "drept", state9));
state5.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state6));
state5.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state5.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // sau 10
state6.getTransitions().Add("drept", new Transition(0.2, "drept", state7));
state6.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state6));
state6.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state6.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // sau 10 !
state7.getTransitions().Add("drept", new Transition(0.2, "drept", state7));
state7.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state7.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state7.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2)); // sau 10 !
state8.getTransitions().Add("drept", new Transition(0.2, "drept", state1)); // !!
state8.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4)); // !!
state8.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5)); // !!
state8.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8));
state9.getTransitions().Add("drept", new Transition(0.2, "drept", state9));
state9.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state9.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state9.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state10.getTransitions().Add("drept", new Transition(0.2, "drept", state9)); //7
state10.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state6));
state10.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state10.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // sau 2
legList.Add(state1.getName(), state1);
legList.Add(state2.getName(), state2);
legList.Add(state3.getName(), state3);
legList.Add(state4.getName(), state4);
legList.Add(state5.getName(), state5);
legList.Add(state6.getName(), state6);
legList.Add(state7.getName(), state7);
legList.Add(state8.getName(), state8);
legList.Add(state9.getName(), state9);
legList.Add(state10.getName(), state10);
return(legList);
}
public Dictionary <String, State> initHandStates()
{
Dictionary <String, State> handList = new Dictionary <String, State>();
State state1 = new State(Constants.stateType.INTERMEDIATE, "");
state1.setName("Lc");
State state2 = new State(Constants.stateType.FINAL, "Ridicare frontala");
state2.setName("Rf.Lc");
State state3 = new State(Constants.stateType.FINAL, "Coborare din frontal");
state3.setName("Lc.Rf");
State state4 = new State(Constants.stateType.FINAL, "Ridicare laterala");
state4.setName("Rl.Lc");
State state5 = new State(Constants.stateType.FINAL, "Coborare din lateral");
state5.setName("Lc.Rl");
State state6 = new State(Constants.stateType.FINAL, "Ridicare sus");
state6.setName("Rs");
State state7 = new State(Constants.stateType.FINAL, "Coborare de sus in frontal");
state7.setName("Rf.Rs");
State state8 = new State(Constants.stateType.FINAL, "Coborare de sus in lateral");
state8.setName("Rl.Rs");
State state9 = new State(Constants.stateType.FINAL, "Lovitura pumn");
state9.setName("Rf.Rl");
State state10 = new State(Constants.stateType.FINAL, "Miscare circulara din frontal in lateral");
state10.setName("Rl.Rf");
state1.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state1));
state1.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state1.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state1.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state2.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state2.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state2.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state2.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state3.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state3.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state3.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state3.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state4.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state4.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state4.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state4.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state5.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state5.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state5.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state5.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state6.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state1));
state6.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state7));
state6.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state8));
state6.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state7.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state7.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state7));
state7.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state7.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state8.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state8.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state8.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state8));
state8.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state9.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state9.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state9.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state9.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state10.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state10.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state10.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state10.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
handList.Add(state1.getName(), state1);
handList.Add(state2.getName(), state2);
handList.Add(state3.getName(), state3);
handList.Add(state4.getName(), state4);
handList.Add(state5.getName(), state5);
handList.Add(state6.getName(), state6);
handList.Add(state7.getName(), state7);
handList.Add(state8.getName(), state8);
handList.Add(state9.getName(), state9);
handList.Add(state10.getName(), state10);
return(handList);
}
public Dictionary<String, State> initBodyStates()
{
Dictionary<String, State> bodyList = new Dictionary<String, State>();
State state1 = new State(Constants.stateType.INTERMEDIATE, "");
state1.setName("D");
State state2 = new State(Constants.stateType.FINAL, "Aplecare laterala");
state2.setName("Al.D");
State state3 = new State(Constants.stateType.FINAL, "Ridicare din lateral");
state3.setName("D.Al");
State state4 = new State(Constants.stateType.FINAL, "Ridicare din asezat");
state4.setName("D.AfAs");
State state5 = new State(Constants.stateType.FINAL, "Aplecare frontala");
state5.setName("Af.D");
State state6 = new State(Constants.stateType.FINAL, "Asezare");
state6.setName("As.Af");
State state7 = new State(Constants.stateType.INTERMEDIATE, "");
state7.setName("Af.As");
State state8 = new State(Constants.stateType.FINAL, "Aplecare laterala din asezat");
state8.setName("Al.As");
State state9 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare frontala din asezat");
state9.setName("Af.AlAs");
State state10 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare laterala din asezat");
state10.setName("Al.AfAs");
State state11 = new State(Constants.stateType.FINAL, "Ridicare din lateral asezat");
state11.setName("As.AlAs");
State state12 = new State(Constants.stateType.FINAL, "Ridicare din frontal");
state12.setName("D.Af");
State state13 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare laterala din aplecare frontala");
state13.setName("Al.Af");
State state14 = new State(Constants.stateType.FINAL, "Miscare circulara - aplecare frontala din aplecare laterala");
state14.setName("Af.Al");
State state15 = new State(Constants.stateType.FINAL, "Ridicare din aplecat frontal asezat");
state15.setName("As.AfAs");
State state16 = new State(Constants.stateType.FINAL, "Cadere");
state16.setName("C");
state1.getTransitions().Add("drept", new Transition(0.2, "drept", state1));
state1.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state1.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state1.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state1.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state2.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state2.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state14));
state2.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state2.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state2.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state3.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state3.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state3.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state3.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state3.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state4.getTransitions().Add("drept", new Transition(0.2, "drept", state4));
state4.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state4.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state4.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state4.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state5.getTransitions().Add("drept", new Transition(0.2, "drept", state12));
state5.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state5.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state13));
state5.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state5.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state6.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state6.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state6.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state6.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state6.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state7.getTransitions().Add("drept", new Transition(0.2, "drept", state4));
state7.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state7.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state10));
state7.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state7.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state8.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state8.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state9));
state8.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state8.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state8.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state9.getTransitions().Add("drept", new Transition(0.2, "drept", state15));
state9.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state9));
state9.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state10));
state9.getTransitions().Add("asezat", new Transition(0.2, "asezat", state15));
state9.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state10.getTransitions().Add("drept", new Transition(0.2, "drept", state11));
state10.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state9));
state10.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state10));
state10.getTransitions().Add("asezat", new Transition(0.2, "asezat", state11));
state10.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state11.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state11.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state11.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state11.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state11.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state12.getTransitions().Add("drept", new Transition(0.2, "drept", state12));
state12.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state12.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state12.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state12.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state13.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state13.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state14));
state13.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state13));
state13.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state13.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state14.getTransitions().Add("drept", new Transition(0.2, "drept", state12));
state14.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state14));
state14.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state13));
state14.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state14.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
state15.getTransitions().Add("drept", new Transition(0.2, "drept", state6));
state15.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state7));
state15.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state8));
state15.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state15.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
// TODO: modifica starea urmatoare
state16.getTransitions().Add("drept", new Transition(0.2, "drept", state1));
state16.getTransitions().Add("aplecat frontal", new Transition(0.2, "aplecat frontal", state5));
state16.getTransitions().Add("aplecat lateral", new Transition(0.2, "aplecat lateral", state2));
state16.getTransitions().Add("asezat", new Transition(0.2, "asezat", state6));
state16.getTransitions().Add("culcat", new Transition(0.2, "culcat", state16));
bodyList.Add(state1.getName(), state1);
bodyList.Add(state2.getName(), state2);
bodyList.Add(state3.getName(), state3);
bodyList.Add(state4.getName(), state4);
bodyList.Add(state5.getName(), state5);
bodyList.Add(state6.getName(), state6);
bodyList.Add(state7.getName(), state7);
bodyList.Add(state8.getName(), state8);
bodyList.Add(state9.getName(), state9);
bodyList.Add(state10.getName(), state10);
bodyList.Add(state11.getName(), state11);
bodyList.Add(state12.getName(), state12);
bodyList.Add(state13.getName(), state13);
bodyList.Add(state14.getName(), state14);
bodyList.Add(state15.getName(), state15);
bodyList.Add(state16.getName(), state16);
return bodyList;
}
public Dictionary<String, State> initLegStates()
{
Dictionary<String, State> legList = new Dictionary<String, State>();
State state1 = new State(Constants.stateType.INTERMEDIATE, "");
state1.setName("D");
State state2 = new State(Constants.stateType.INTERMEDIATE, "");
state2.setName("I.D");
State state3 = new State(Constants.stateType.FINAL, "Pas");
state3.setName("D.I");
State state4 = new State(Constants.stateType.FINAL, "Ridicare frontala");
state4.setName("Rf.D");
State state5 = new State(Constants.stateType.FINAL, "Ridicare laterala");
state5.setName("Rl.D");
State state6 = new State(Constants.stateType.FINAL, "Miscare circulara spre frontal");
state6.setName("Rf.Rl");
State state7 = new State(Constants.stateType.FINAL, "Coborare din frontal");
state7.setName("D.Rf");
State state8 = new State(Constants.stateType.INTERMEDIATE, "");
state8.setName("I");
State state9 = new State(Constants.stateType.FINAL, "Coborare din lateral");
state9.setName("D.Rl");
State state10 = new State(Constants.stateType.FINAL, "Miscare circulara spre lateral");
state10.setName("Rl.Rf");
state1.getTransitions().Add("drept", new Transition(0.2, "drept", state1));
state1.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state1.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state1.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state2.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state2.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state2.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state2.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state3.getTransitions().Add("drept", new Transition(0.2, "drept", state3));
state3.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state3.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state3.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state4.getTransitions().Add("drept", new Transition(0.2, "drept", state7)); // 3
state4.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state4.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state4.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // 2
state5.getTransitions().Add("drept", new Transition(0.2, "drept", state9));
state5.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state6));
state5.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state5.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // sau 10
state6.getTransitions().Add("drept", new Transition(0.2, "drept", state7));
state6.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state6));
state6.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state6.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // sau 10 !
state7.getTransitions().Add("drept", new Transition(0.2, "drept", state7));
state7.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state7.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state7.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2)); // sau 10 !
state8.getTransitions().Add("drept", new Transition(0.2, "drept", state1)); // !!
state8.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4)); // !!
state8.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5)); // !!
state8.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8));
state9.getTransitions().Add("drept", new Transition(0.2, "drept", state9));
state9.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state4));
state9.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state5));
state9.getTransitions().Add("indoit", new Transition(0.2, "indoit", state2));
state10.getTransitions().Add("drept", new Transition(0.2, "drept", state9)); //7
state10.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state6));
state10.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state10.getTransitions().Add("indoit", new Transition(0.2, "indoit", state8)); // sau 2
legList.Add(state1.getName(), state1);
legList.Add(state2.getName(), state2);
legList.Add(state3.getName(), state3);
legList.Add(state4.getName(), state4);
legList.Add(state5.getName(), state5);
legList.Add(state6.getName(), state6);
legList.Add(state7.getName(), state7);
legList.Add(state8.getName(), state8);
legList.Add(state9.getName(), state9);
legList.Add(state10.getName(), state10);
return legList;
}
public Dictionary<String, State> initHandStates()
{
Dictionary<String, State> handList = new Dictionary<String, State>();
State state1 = new State(Constants.stateType.INTERMEDIATE, "");
state1.setName("Lc");
State state2 = new State(Constants.stateType.FINAL, "Ridicare frontala");
state2.setName("Rf.Lc");
State state3 = new State(Constants.stateType.FINAL, "Coborare din frontal");
state3.setName("Lc.Rf");
State state4 = new State(Constants.stateType.FINAL, "Ridicare laterala");
state4.setName("Rl.Lc");
State state5 = new State(Constants.stateType.FINAL, "Coborare din lateral");
state5.setName("Lc.Rl");
State state6 = new State(Constants.stateType.FINAL, "Ridicare sus");
state6.setName("Rs");
State state7 = new State(Constants.stateType.FINAL, "Coborare de sus in frontal");
state7.setName("Rf.Rs");
State state8 = new State(Constants.stateType.FINAL, "Coborare de sus in lateral");
state8.setName("Rl.Rs");
State state9 = new State(Constants.stateType.FINAL, "Lovitura pumn");
state9.setName("Rf.Rl");
State state10 = new State(Constants.stateType.FINAL, "Miscare circulara din frontal in lateral");
state10.setName("Rl.Rf");
state1.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state1));
state1.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state1.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state1.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state2.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state2.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state2.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state2.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state3.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state3.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state3.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state3.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state4.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state4.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state4.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state4.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state5.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state5.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state2));
state5.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state4));
state5.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state6.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state1));
state6.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state7));
state6.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state8));
state6.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state7.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state7.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state7));
state7.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state7.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state8.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state8.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state8.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state8));
state8.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state9.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state3));
state9.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state9.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state9.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
state10.getTransitions().Add("langa corp", new Transition(0.2, "langa corp", state5));
state10.getTransitions().Add("ridicat frontal", new Transition(0.2, "ridicat frontal", state9));
state10.getTransitions().Add("ridicat lateral", new Transition(0.2, "ridicat lateral", state10));
state10.getTransitions().Add("ridicat sus", new Transition(0.2, "ridicat sus", state6));
handList.Add(state1.getName(), state1);
handList.Add(state2.getName(), state2);
handList.Add(state3.getName(), state3);
handList.Add(state4.getName(), state4);
handList.Add(state5.getName(), state5);
handList.Add(state6.getName(), state6);
handList.Add(state7.getName(), state7);
handList.Add(state8.getName(), state8);
handList.Add(state9.getName(), state9);
handList.Add(state10.getName(), state10);
return handList;
}