MABodyTypes.hpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#pragma once

#include "core/MANum.hpp"
#include "core/MASignal.hpp"

namespace MA
{
typedef enum
{
  NeckPan = 0, 
  NeckTilt1,   
  NeckTilt2,   
  MouthJoint,  
  EarLeft,     
  EarRight,    
} HeadJointsType;

typedef enum
{
  TailTilt = 0, 
  TailPan,      
} TailJointsType;
}

struct MABodyPartFeature
{
  MABodyPartFeature(int value = 0, int minimum = -100, int maximum = 100);
  virtual ~MABodyPartFeature() {};

  virtual void FromJointDegree(int degree) = 0;

  virtual int ToJointDegree() const = 0;

  MANum<float> Value;
};

struct MALegPosition : public MABodyPartFeature // -V690 (PVS Studio suppression)3
{
  MA_SLOT_CLASS
  MALegPosition();
  MALegPosition(const MALegPosition& other);

  virtual void FromJointDegree(int degree) override;
  virtual int ToJointDegree() const override;

private:
  void NotifyNumUpdate(MANum<float>& number);
  float DegreeToForeBack(int degree) const;
  float DegreeToUpDown(int degree) const;

public:
  MANum<float> ForeBackValue;
  MANum<float> UpDownValue;
};

struct MASidelong : public MABodyPartFeature
{
  explicit MASidelong(int value = 0);

  virtual void FromJointDegree(int degree) override;
  virtual int ToJointDegree() const override;
};

struct MABentStretched : public MABodyPartFeature
{
  explicit MABentStretched(int value = 0);

  virtual void FromJointDegree(int degree) override;
  virtual int ToJointDegree() const override;
};

struct MALeftRightTurned : public MABodyPartFeature
{
  explicit MALeftRightTurned(int value = 0);

  virtual void FromJointDegree(int degree) override;
  virtual int ToJointDegree() const override;
};

struct MAHeadPosition : public MABodyPartFeature
{
  MAHeadPosition();
  virtual ~MAHeadPosition() {};

  virtual void FromJointDegree(int degree) override;
  virtual int ToJointDegree() const override;
  void FromJointDegrees(int neck_tilt1, int neck_tilt2);
  int ToNeckTilt1Degree() const;
  int ToNeckTilt2Degree() const;

  MANum<float> ForeBackValue;
  MANum<float> UpDownValue;
};

struct MAMouthOpened : public MABodyPartFeature
{
  explicit MAMouthOpened(int value = 0);

  virtual void FromJointDegree(int degree) override;
  virtual int ToJointDegree() const override;
};