/// <summary>
/// Paired
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg_BentKneeLeft(string mfname)
{
RLeg leg_r = new RLeg(
false,
-9.8,
5.3,
-5.8,
2.1,
0.4,
6.3);
LLeg leg_l = new LLeg(
false,
-9.8,
7.5,
5.7,
-5.2,
5.1,
-7.4);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
/// Paired
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg3_2(string mfname)
{
RLeg leg_r = new RLeg(
false,
0.4,
5.0,
0.1,
-5.3,
2.7,
1.6);
LLeg leg_l = new LLeg(
false,
0.4,
9.8,
7.1,
-5.3,
-2.1,
-7.5);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
/// Independent; combined with Stand()
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg_Back(string mfname)
{
RLeg leg_r = new RLeg(
false,
-7.7,
-2.0,
-3.4,
0.9,
4.3,
3.7);
LLeg leg_l = new LLeg(
false,
-7.7,
-1.4,
3.4,
0.8,
3.8,
-5.2);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
/// Paired
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg2_2(string mfname)
{
RLeg leg_r = new RLeg(
false,
-1.8,
7.2,
-3.9,
-5.2,
0.7,
4.7);
LLeg leg_l = new LLeg(
false,
-1.8,
7.6,
5.8,
-5.3,
0.4,
-6.3);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
/// Paired
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg3_1(string mfname)
{
RLeg leg_r = new RLeg(
false,
-4.7,
13.2,
-10.0,
-5.2,
-1.6,
8.7);
LLeg leg_l = new LLeg(
false,
-4.7,
11.7,
-2.0,
-5.3,
0.2,
-1.0);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
/// Standard Stand pose; knee closed
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> Stand(string mfname)
{
RLeg leg_r = new RLeg(
false,
-9.7,
7.4,
-5.7,
-5.2,
5.2,
7.4);
LLeg leg_l = new LLeg(
false,
-9.7,
7.4,
5.7,
-5.2,
5.2,
-7.4);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
/// Paired
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg2_1(string mfname)
{
RLeg leg_r = new RLeg(
false,
-1.0,
3.9,
-9.8,
-4.9,
3.0,
9.1);
LLeg leg_l = new LLeg(
false,
-1.0,
1.3,
-5.1,
-5.3,
5.7,
2.4);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
protected List<PoseProfile> LeanRightRecover(string mfname)
{
RLeg leg_r = new RLeg(
false,
0,
-18.6,
-13.3,
32.0,
-21.7,
8.1);
LLeg leg_l = new LLeg(
false,
0,
-18.6,
2.8,
37.5,
-20.5,
-3.4);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
/// Paired
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg1_1(string mfname)
{
RLeg leg_r = new RLeg(
false,
1.0,
3.2,
-7.3,
-4.8,
2.6,
7.0);
LLeg leg_l = new LLeg(
false,
1.0,
0.4,
1.6,
-5.3,
5.7,
-3.5);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
protected List<PoseProfile> BendTorsoSmall(string mfname)
{
RLeg leg_r = new RLeg(
false,
-17.8,
-0.6,
-2.7,
-5.3,
5.5,
4.6);
LLeg leg_l = new LLeg(
false,
-17.8,
-1.5,
3.1,
-5.3,
5.2,
-5.5); //
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
protected List<PoseProfile> LeanRight(string mfname)
{
RLeg leg_r = new RLeg(
false,
-8.3,
-2.8,
-15.7,
38.7,
-28.5,
7.4);
LLeg leg_l = new LLeg(
false,
-8.3,
9.8,
-0.6,
4.1,
-5.7,
-7.6);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
protected List<PoseProfile> BendTorso(string mfname)
{
RLeg leg_r = new RLeg(
false,
-0.8,
-74.6,
-6.8,
38.6,
-7.6,
4.2);
LLeg leg_l = new LLeg(
false,
-0.8,
-74.6,
6.8,
38.6,
-7.6,
-6.7); // -4.2 symmetry
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
protected List<PoseProfile> StandOnRight(string mfname)
{
RLeg leg_r = new RLeg(
false,
-10.3,
1.6,
-17.5,
-4.1,
8.9,
12.9);
LLeg leg_l = new LLeg(
false,
-10.3,
11.2,
-5.1,
-5.0,
0.7,
0.5);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
protected List<PoseProfile> StandOnLeft(string mfname)
{
RLeg leg_r = new RLeg(
false,
-9.1,
11.1,
6.9,
-5.3,
-0.2,
-2.4);
LLeg leg_l = new LLeg(
false,
-9.1,
2.3,
19.3,
0.6,
1.5,
-16.3);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
/// Paired
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg_BentKneeRight(string mfname)
{
RLeg leg_r = new RLeg(
false,
-10.2,
7.5,
-5.7,
-5.1,
5.2,
7.5);
LLeg leg_l = new LLeg(
false,
-10.2,
-1.1,
5.9,
2.9,
4.7,
-7.2);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
/// Paired
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg1_2(string mfname)
{
RLeg leg_r = new RLeg(
false,
-3.2,
2.7,
-6.9,
-3.8,
2.9,
7.0);
LLeg leg_l = new LLeg(
false,
-3.2,
0.9,
-1.2,
-5.3,
6.5,
-1.1);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
/// <summary>
///
/// </summary>
/// <returns></returns>
public override JointChain MirrorLeftRight()
{
Leg m_leg = null;
if (this.Name == "RLeg")
{
m_leg = new LLeg(
true,
this.HipYawPitch,
this.HipPitch,
-this.HipRoll,
this.KneePitch,
this.AnklePitch,
-this.AnkleRoll
);
}
else if (this.Name == "LLeg")
{
m_leg = new RLeg(
true,
this.HipYawPitch,
this.HipPitch,
-this.HipRoll,
this.KneePitch,
this.AnklePitch,
-this.AnkleRoll
);
}
else
{
Debug.WriteLine("JointChainMirror: wrong leg joint chain name");
}
return m_leg;
}
/// <summary>
/// Independent; combined with Stand()
/// </summary>
/// <param name="mfname"></param>
/// <returns></returns>
protected List<PoseProfile> MoveLeg_Front(string mfname)
{
RLeg leg_r = new RLeg(
false,
-9.6,
12.7,
-6.1,
-5.2,
1.0,
6.4);
LLeg leg_l = new LLeg(
false,
-9.6,
12.0,
6.1,
-5.3,
1.6,
-7.6);
PoseProfile pp_leg_r = new PoseProfile(mfname, leg_r);
PoseProfile pp_leg_l = new PoseProfile(mfname, leg_l);
List<PoseProfile> lpp = new List<PoseProfile>();
lpp.Add(pp_leg_r);
lpp.Add(pp_leg_l);
return lpp;
}
