public override Wrapper VisitExecution_step(PreposeGesturesParser.Execution_stepContext context)
{
var pose = GetPose(context.ID().GetText());
if (context.motion_constraint() != null && context.hold_constraint() != null)
{
var restriction = context.motion_constraint().GetText();
var motionConstraint = Wrapper.Convert(restriction);
var duration = int.Parse(context.hold_constraint().NUMBER().GetText());
return
(new Wrapper(
new ExecutionStep(
motionConstraint,
pose,
duration)));
}
if (context.motion_constraint() != null)
{
var restriction = context.motion_constraint().GetText();
var motionConstraint = Wrapper.Convert(restriction);
return
(new Wrapper(
new ExecutionStep(
motionConstraint,
pose)));
}
if (context.hold_constraint() != null)
{
var duration = int.Parse(context.hold_constraint().NUMBER().GetText());
return
(new Wrapper(
new ExecutionStep(
pose, duration)));
}
return(new Wrapper(new ExecutionStep(pose)));
}
