mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
82 lines
2.3 KiB
C++
82 lines
2.3 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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#pragma once
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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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enum JointTypes
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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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};
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enum JointTrackingState
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{
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kNotTracked,
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kInferred,
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kTracked
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};
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struct Joint
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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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};
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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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