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// Walker.h: interface for the CWalker class. 
// 
////////////////////////////////////////////////////////////////////// 
 
#if !defined(AFX_WALKER_H__AA8ABAC4_007E_4143_AA76_890A5ADF2FF9__INCLUDED_) 
#define AFX_WALKER_H__AA8ABAC4_007E_4143_AA76_890A5ADF2FF9__INCLUDED_ 
 
#if _MSC_VER > 1000 
#pragma once 
#endif // _MSC_VER > 1000 
 
#include "WalkConf.h" 
 
class CWalker   
{ 
public: 
	CWalker(double len_thigh1,double len_calf1,double len_foot1); 
	CWalker(double len_thigh1,double len_calf1,double len_foot1,double ulimit_hip1,double llimit_hip1, 
		double ulimit_knee1,double llimit_knee1,double ulimit_ankle1,double llimit_ankle1); 
	void setLenLeg(double len_thigh1,double len_calf1,double len_foot1  ); 
	void setLimitRotaHip(double ulimit_hip1,double llimit_hip1 ); 
	void setLimitRotaKnee(double ulimit_knee1,double llimit_knee1 ); 
	void setLimitRotaAnkle(double ulimit_ankle1,double llimit_ankle1 ); 
	CWalkConf query(CPosition from, CPosition to,CPosition next, int whichFrame); 
	CWalkConf query(CPosition to, CPosition next,int whichSlice ); 
	CWalkConf* genInterpolation1(CWalkConf keyframe1,CWalkConf keyframe2 ); 
	CWalkConf* genInterpolation2(CWalkConf keyframe2,CWalkConf keyframe3 ); 
	CWalkConf* genInterpolation3(CWalkConf keyframe3,CWalkConf keyframe4 ); 
	CWalkConf genStandConf(CPosition in) ; 
	CWalkConf AKeyframe(CPosition from, CPosition to); 
	CWalkConf BKeyframe(CPosition from, CPosition to); 
	CWalkConf CKeyframe(CPosition from, CPosition to) ; 
	CWalkConf* genInterpolationA(CWalkConf keyframe1,CWalkConf keyframe2 ); 
	CWalkConf* genInterpolationAA(CWalkConf keyframe1,CWalkConf keyframe2 ); 
	CWalkConf* genInterpolationB(CWalkConf keyframe2,CWalkConf keyframe3 ) ; 
	CWalkConf* genInterpolationC(CWalkConf keyframe3,CWalkConf keyframe4 ); 
	CPosition loca_f_knee(CWalkConf w); 
	CPosition loca_f_ankle(CWalkConf w); 
	CPosition loca_f_toetip(CWalkConf w); 
	CPosition loca_b_knee(CWalkConf w); 
	CPosition loca_b_ankle(CWalkConf w); 
	CPosition loca_b_toetip(CWalkConf w); 
	CPosition findPosition(CPosition l, double len, double theta); 
	double calIncluded(double a, double b, double c) ; 
	double antiCalIncluded(double a, double b, double theta); 
	double interJoint(double s, double e, int i, int total) ; 
	CPosition interCartesian(CPosition s, CPosition e, int i, int total); 
	 
	CWalkConf genKeyframe4(CPosition from, CPosition to); 
	CWalkConf genKeyframe3(CPosition from, CPosition to); 
	CWalkConf genKeyframe2(CPosition from, CPosition to); 
	CWalkConf genKeyframe1(CPosition from, CPosition to); 
	CWalkConf* walk(CPosition from,CPosition to,CPosition next ); 
	double len_trunk; 
	double len_neck; 
	double head; 
	 
private: 
	double len_thigh  ;      // the length of thigh 
	double len_calf   ;      // the length of calf 
	double len_foot   ;      // the length of foot 
	double ulimit_hip ; // the maximum value for the rotation of hip 
	double llimit_hip  ;   // the minimum value for the rotation of hip 
	double ulimit_knee  ; // the maximum value for the rotation of knee 
	double llimit_knee  ;   // the minimum value for the rotation of knee 
	double ulimit_ankle ; // the maximum value for the rotation of ankle 
	double llimit_ankle  ;   // the minimum value for the rotation of ankle 
	/***  Control Variables*/  
    bool IsLeftLegFront  ;  // true -> LeftLeg is front leg 
	 
	/***  Buffers to keep the information for Walk*/  
    CPosition preFrom  ; // the step is from where 
	CPosition preTo    ; // the step is to where 
	CWalkConf* wa     ; // buffers to put the result 
	 
	CWalker(); 
	virtual ~CWalker(); 
	 
}; 
 
#endif // !defined(AFX_WALKER_H__AA8ABAC4_007E_4143_AA76_890A5ADF2FF9__INCLUDED_)