kinematic_animation.cpp

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#include "../include/kinematic_animation.h"
 
void KinematicAnimation::initialize(igl::opengl::glfw::Viewer* viewer, 
    Exoskeleton* left_exo, AnimatedHand* anim_hand, MenuHandler* menu_handler)
{
    // Get exoskeleton handler pointer
    m_left_exo = left_exo;
 
    // Get animation hand pointer
    m_anim_hand = anim_hand;
 
    // Get menu handler pointer
    m_menu_handler = menu_handler;
 
    // Set camera center
    m_camera_center << -0.1, -0.1, 0.0, 0.1, -0.1, 0.0, 0.0, 0.1, 0.0;
}
 
bool KinematicAnimation::animation_loop(igl::opengl::glfw::Viewer& viewer)
{
    if (viewer.core().is_animating)
    {
        viewer.core().align_camera_center(m_camera_center);
 
        // Initialize if ports are set
        if (m_menu_handler->are_ports_set() && m_initialize_animation)
        {
            // Setup exoskeleton
            setup_exoskeletons(viewer);
 
            // Dont initialize animations again
            m_initialize_animation = 0;
        }
 
        if(m_menu_handler->are_ports_set())
        {
            // Get euler angles
            auto euler_id =
                m_anim_hand->get_hand_angles(m_left_exo->get_joint_angles());
            
            // Update left hand
            m_left_hand.update(euler_id, viewer);
            
            // Update right hand
            m_right_hand.update(euler_id, viewer);
        }
    } 
    return false;
}
 
void KinematicAnimation::setup_exoskeletons(igl::opengl::glfw::Viewer& viewer)
{
   // Define serial COM for left exoskeleton
    std::string serial_com_left = m_menu_handler->get_left_exoskeleton_port();
 
   // Define serial COM for right exoskeleton
    std::string serial_com_right = m_menu_handler->get_right_exoskeleton_port();
 
    // Define baudrate
    unsigned int baud_rate = 115200;
    
    // Initialize left exoskeleton
    m_left_exo->initialize(serial_com_left, baud_rate);
 
    // Initialize right exoskeleton (to be done)
 
    // Initialize left hand 
    m_left_hand.initialize(&viewer, m_left_exo, m_anim_hand, 0, m_left_origin);
 
    // Initialize right hand
    m_right_hand.initialize(&viewer, m_left_exo, m_anim_hand, 1, m_right_origin);
}