Skeleton.h

/*----------------------------------------------------------------------------*/
/* 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__

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