| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2011. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __SKELETON_H__
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| 8 | #define __SKELETON_H__
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| 9 |
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| 10 | /**
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| 11 | * Represents Skeleton data from a Kinect device connected to the
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| 12 | * Driver Station. See Getting Started with Microsoft Kinect for
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| 13 | * FRC and the Kinect for Windows SDK API reference for more information
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| 14 | */
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| 15 | class Skeleton
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| 16 | {
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| 17 | friend class Kinect;
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| 18 | public:
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| 19 | typedef enum
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| 20 | {
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| 21 | HipCenter = 0,
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| 22 | Spine = 1,
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| 23 | ShoulderCenter = 2,
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| 24 | Head = 3,
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| 25 | ShoulderLeft = 4,
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| 26 | ElbowLeft = 5,
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| 27 | WristLeft = 6,
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| 28 | HandLeft = 7,
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| 29 | ShoulderRight = 8,
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| 30 | ElbowRight = 9,
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| 31 | WristRight = 10,
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| 32 | HandRight = 11,
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| 33 | HipLeft = 12,
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| 34 | KneeLeft = 13,
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| 35 | AnkleLeft = 14,
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| 36 | FootLeft = 15,
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| 37 | HipRight = 16,
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| 38 | KneeRight = 17,
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| 39 | AnkleRight = 18,
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| 40 | FootRight = 19,
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| 41 | JointCount = 20
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| 42 | } JointTypes;
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| 43 |
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| 44 | typedef enum {kNotTracked, kInferred, kTracked} JointTrackingState;
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| 45 |
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| 46 | typedef struct
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| 47 | {
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| 48 | float x;
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| 49 | float y;
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| 50 | float z;
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| 51 | JointTrackingState trackingState;
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| 52 | } Joint;
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| 53 |
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| 54 | Joint GetHandRight() { return m_joints[HandRight]; }
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| 55 | Joint GetHandLeft() { return m_joints[HandLeft]; }
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| 56 | Joint GetWristRight() { return m_joints[WristRight]; }
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| 57 | Joint GetWristLeft() { return m_joints[WristLeft]; }
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| 58 | Joint GetElbowLeft() { return m_joints[ElbowLeft]; }
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| 59 | Joint GetElbowRight() { return m_joints[ElbowRight]; }
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| 60 | Joint GetShoulderLeft() { return m_joints[ShoulderLeft]; }
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| 61 | Joint GetShoulderRight() { return m_joints[ShoulderRight]; }
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| 62 | Joint GetShoulderCenter() { return m_joints[ShoulderCenter]; }
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| 63 | Joint GetHead() { return m_joints[Head]; }
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| 64 | Joint GetSpine() { return m_joints[Spine]; }
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| 65 | Joint GetHipCenter() { return m_joints[HipCenter]; }
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| 66 | Joint GetHipRight() { return m_joints[HipRight]; }
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| 67 | Joint GetHipLeft() { return m_joints[HipLeft]; }
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| 68 | Joint GetKneeLeft() { return m_joints[KneeLeft]; }
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| 69 | Joint GetKneeRight() { return m_joints[KneeRight]; }
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| 70 | Joint GetAnkleLeft() { return m_joints[AnkleLeft]; }
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| 71 | Joint GetAnkleRight() { return m_joints[AnkleRight]; }
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| 72 | Joint GetFootLeft() { return m_joints[FootLeft]; }
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| 73 | Joint GetFootRight() { return m_joints[FootRight]; }
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| 74 | Joint GetJointValue(JointTypes index) { return m_joints[index]; }
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| 75 |
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| 76 | private:
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| 77 | Joint m_joints[20];
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| 78 | };
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| 79 |
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| 80 | #endif
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| 81 |
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