/// <summary>
/// Basic constructor
/// </summary>
/// <param name="mmus"></param>
/// <param name="avatar"></param>
public RemoteCoSimulation(IMotionModelUnitAccess coSimulationMMU, IServiceAccess serviceAccess, MMIAvatar avatar, Dictionary <string, string> priorities) : base(new List <IMotionModelUnitAccess>() { coSimulationMMU })
{
this.avatar = avatar;
this.serviceAccess = serviceAccess;
this.remoteCoSimulationMMU = coSimulationMMU;
}
public UserSession() : base(new TimeSpan(Properties.Settings.Default.msSessionLifeTime), null)
{
service = new WebHostCacheWrapper();
}
public AuthController(IServiceAccess services, IOptionsSnapshot <JwtOptions> jwtOption)
{
_services = services;
_jwtOption = jwtOption.Value;
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="serviceAccess"></param>
/// <param name="skeletonAccess"></param>
/// <param name="avatarID"></param>
public IKSolver(IServiceAccess serviceAccess, MSkeletonAccess.Iface skeletonAccess, string avatarID)
{
this.serviceAccess = serviceAccess;
this.skeletonAccess = skeletonAccess;
this.serviceAccess.IKService.Setup(skeletonAccess.GetAvatarDescription(avatarID), skeletonAccess.GetAvatarDescription(avatarID).Properties);
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="mmus"></param>
/// <param name="avatar"></param>
public LocalCoSimulation(List <IMotionModelUnitAccess> mmus, IServiceAccess serviceAccess, MMIAvatar avatar) : base(mmus)
{
this.avatar = avatar;
this.serviceAccess = serviceAccess;
this.HierachicalSolving = false;
this.priorities = new Dictionary <string, float>()
{
{ "Default", -1 },
//Level 0
{ "Pose", 0 },
{ "Pose/Idle", 0 },
{ "idle", 0 },
//Level 1
{ "Locomotion", 1 },
{ "Locomotion/Walk", 1 },
{ "Locomotion/Run", 1 },
{ "Locomotion/Jog", 1 },
{ "Locomotion/Crouch", 1 },
{ "Locomotion/Turn", 1 },
{ "walk", 1 },
//Level 2
{ "Pose/Reach", 2 },
{ "positionObject", 2 },
{ "releaseObject", 2 },
{ "Object/Release", 2 },
{ "Object/Carry", 2 },
{ "Object/Move", 2 },
{ "Object/Turn", 2 },
{ "release", 2 },
{ "carry", 2 },
{ "move", 3 },
{ "putDown", 2 },
{ "pickupMTM-SD", 2 },
{ "turn", 2 },
{ "UseTool", 2 },
//Level 3
{ "Pose/MoveFingers", 3 },
{ "moveFingers", 3 },
{ "grasp", 3 },
//Level 4
{ "Pose/Gaze", 4 },
{ "Pose/EyeTravel", 4 },
};
//Create and add the solvers
this.Solvers = new List <ICoSimulationSolver>
{
new IKSolver(this.serviceAccess, avatar.GetSkeletonAccess(), avatar.MAvatar.ID)
};
this.SortMMUPriority();
}
