public override Wrapper VisitPose(PreposeGesturesParser.PoseContext context)
{
var bt = new CompositeBodyTransform();
var br = new CompositeBodyRestriction();
var ds = new CompositeDelayedStatement();
foreach (var s in context.statement())
{
Contract.Assert(s != null);
var w = this.Visit(s);
Contract.Assert(w != null);
var statement = w.GetValue();
if (statement != null)
{
if (statement is CompositeBodyTransform)
{
bt = bt.Compose((CompositeBodyTransform)statement);
continue;
}
if (statement is CompositeBodyRestriction)
{
br = br.And((CompositeBodyRestriction)statement);
continue;
}
if (statement is CompositeDelayedStatement)
{
ds = ds.Compose((CompositeDelayedStatement)statement);
continue;
}
throw new ArgumentException("Wrong return type");
}
}
var pose = new Pose(context.ID().GetText(), bt, br, ds);
if (this.Poses.ContainsKey(pose.Name))
{
throw new ArgumentException("Pose " + pose.Name + " has been previosly seen.");
}
this.Poses.Add(pose.Name, pose);
return(new Wrapper(pose));
}
// this is the rotate action working as a transform
// this was temporarily changed to make the rotate action work as a restriction as shown blow
public override Wrapper VisitRotate_direction_transform(PreposeGesturesParser.Rotate_direction_transformContext context)
{
var delayed = new CompositeDelayedStatement();
var direction = (Direction)this.Visit(context.direction());
var degreesText = context.NUMBER().GetText();
var degrees = Convert.ToInt32(degreesText);
foreach (var b in context.body_part())
{
var converted = (JointGroup)this.Visit(b);
delayed = delayed.Compose(
converted.Aggregate(joint =>
new CompositeDelayedStatement(
new RotateDelayedStatement(joint, direction, degrees))));
}
return(new Wrapper(delayed));
}