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Initial checkin of unified hierarchy of WPILib 2015

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Brad Miller
2013-12-15 18:30:16 -05:00
commit 3178911eef
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wpilibc/src/main/include/Skeleton.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#ifndef __SKELETON_H__
#define __SKELETON_H__
/**
* Represents Skeleton data from a Kinect device connected to the
* Driver Station. See Getting Started with Microsoft Kinect for
* FRC and the Kinect for Windows SDK API reference for more information
*/
class Skeleton
{
friend class Kinect;
public:
typedef enum
{
HipCenter = 0,
Spine = 1,
ShoulderCenter = 2,
Head = 3,
ShoulderLeft = 4,
ElbowLeft = 5,
WristLeft = 6,
HandLeft = 7,
ShoulderRight = 8,
ElbowRight = 9,
WristRight = 10,
HandRight = 11,
HipLeft = 12,
KneeLeft = 13,
AnkleLeft = 14,
FootLeft = 15,
HipRight = 16,
KneeRight = 17,
AnkleRight = 18,
FootRight = 19,
JointCount = 20
} JointTypes;
typedef enum {kNotTracked, kInferred, kTracked} JointTrackingState;
typedef struct
{
float x;
float y;
float z;
JointTrackingState trackingState;
} Joint;
Joint GetHandRight() { return m_joints[HandRight]; }
Joint GetHandLeft() { return m_joints[HandLeft]; }
Joint GetWristRight() { return m_joints[WristRight]; }
Joint GetWristLeft() { return m_joints[WristLeft]; }
Joint GetElbowLeft() { return m_joints[ElbowLeft]; }
Joint GetElbowRight() { return m_joints[ElbowRight]; }
Joint GetShoulderLeft() { return m_joints[ShoulderLeft]; }
Joint GetShoulderRight() { return m_joints[ShoulderRight]; }
Joint GetShoulderCenter() { return m_joints[ShoulderCenter]; }
Joint GetHead() { return m_joints[Head]; }
Joint GetSpine() { return m_joints[Spine]; }
Joint GetHipCenter() { return m_joints[HipCenter]; }
Joint GetHipRight() { return m_joints[HipRight]; }
Joint GetHipLeft() { return m_joints[HipLeft]; }
Joint GetKneeLeft() { return m_joints[KneeLeft]; }
Joint GetKneeRight() { return m_joints[KneeRight]; }
Joint GetAnkleLeft() { return m_joints[AnkleLeft]; }
Joint GetAnkleRight() { return m_joints[AnkleRight]; }
Joint GetFootLeft() { return m_joints[FootLeft]; }
Joint GetFootRight() { return m_joints[FootRight]; }
Joint GetJointValue(JointTypes index) { return m_joints[index]; }
private:
Joint m_joints[20];
};
#endif