public static IEnumerable <Pose> PassiveExternalRotation(int numberOfRepetitions = 4)
{
// Create the left pose and set both arms to point down
CompositeBodyTransform leftTransform = new CompositeBodyTransform();
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
CompositeBodyTransform rightTransform = new CompositeBodyTransform();
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);
}
}
// Gestures as a List of Poses
public static IEnumerable <Pose> CrossoverArmStretch(int numberOfRepetitions = 4)
{
var startTransform = BodyTransformBuilder.ArmsDownTransform();
yield return(new Pose("ArmsDownTransform", startTransform, BodyRestrictionBuilder.ShouldersRelaxedRestriction()));
var leftStretch = BodyTransformBuilder.CrossoverArmStretchTransform(JointSide.Left);
var rightStretch = BodyTransformBuilder.CrossoverArmStretchTransform(JointSide.Right);
for (int i = 0; i < numberOfRepetitions; ++i)
{
yield return(new Pose("leftStretch", leftStretch));
yield return(new Pose("rightStretch", rightStretch));
}
}
