mirror of
https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
82 lines
2.4 KiB
C++
82 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef __SKELETON_H__
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#define __SKELETON_H__
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/**
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* Represents Skeleton data from a Kinect device connected to the
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* Driver Station. See Getting Started with Microsoft Kinect for
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* FRC and the Kinect for Windows SDK API reference for more information
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*/
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class Skeleton
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{
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friend class Kinect;
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public:
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typedef enum
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{
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HipCenter = 0,
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Spine = 1,
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ShoulderCenter = 2,
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Head = 3,
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ShoulderLeft = 4,
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ElbowLeft = 5,
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WristLeft = 6,
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HandLeft = 7,
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ShoulderRight = 8,
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ElbowRight = 9,
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WristRight = 10,
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HandRight = 11,
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HipLeft = 12,
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KneeLeft = 13,
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AnkleLeft = 14,
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FootLeft = 15,
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HipRight = 16,
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KneeRight = 17,
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AnkleRight = 18,
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FootRight = 19,
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JointCount = 20
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} JointTypes;
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typedef enum {kNotTracked, kInferred, kTracked} JointTrackingState;
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typedef struct
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{
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float x;
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float y;
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float z;
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JointTrackingState trackingState;
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} Joint;
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Joint GetHandRight() { return m_joints[HandRight]; }
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Joint GetHandLeft() { return m_joints[HandLeft]; }
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Joint GetWristRight() { return m_joints[WristRight]; }
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Joint GetWristLeft() { return m_joints[WristLeft]; }
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Joint GetElbowLeft() { return m_joints[ElbowLeft]; }
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Joint GetElbowRight() { return m_joints[ElbowRight]; }
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Joint GetShoulderLeft() { return m_joints[ShoulderLeft]; }
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Joint GetShoulderRight() { return m_joints[ShoulderRight]; }
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Joint GetShoulderCenter() { return m_joints[ShoulderCenter]; }
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Joint GetHead() { return m_joints[Head]; }
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Joint GetSpine() { return m_joints[Spine]; }
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Joint GetHipCenter() { return m_joints[HipCenter]; }
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Joint GetHipRight() { return m_joints[HipRight]; }
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Joint GetHipLeft() { return m_joints[HipLeft]; }
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Joint GetKneeLeft() { return m_joints[KneeLeft]; }
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Joint GetKneeRight() { return m_joints[KneeRight]; }
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Joint GetAnkleLeft() { return m_joints[AnkleLeft]; }
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Joint GetAnkleRight() { return m_joints[AnkleRight]; }
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Joint GetFootLeft() { return m_joints[FootLeft]; }
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Joint GetFootRight() { return m_joints[FootRight]; }
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Joint GetJointValue(JointTypes index) { return m_joints[index]; }
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private:
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Joint m_joints[20];
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};
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#endif
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