kinematic_animation.h

Go to the documentation of this file.

#pragma once 
 
#include <iostream>
#include <igl/opengl/glfw/Viewer.h>
 
#include "animated_hand.h"
#include "exoskeleton.h"
#include "menu_handler.h"
#include "hand.h"
 
 
class KinematicAnimation
{
public:
    KinematicAnimation(){};
 
    void initialize(igl::opengl::glfw::Viewer* viewer, 
        Exoskeleton* left_exo, AnimatedHand* anim_hand, 
        MenuHandler* menu_handler);
 
    bool animation_loop(igl::opengl::glfw::Viewer & viewer);
 
 
private:
 
    Exoskeleton* m_left_exo;
 
    AnimatedHand* m_anim_hand;
 
    MenuHandler* m_menu_handler;
 
    Hand m_left_hand, m_right_hand;
 
    Eigen::Vector3d m_left_origin = Eigen::Vector3d(0.0, 0.2, 0.0);
 
    Eigen::Vector3d m_right_origin = Eigen::Vector3d(0.0, -0.2, 0.0);
 
    bool m_initialize_animation = 1;
 
    void setup_exoskeletons(igl::opengl::glfw::Viewer& viewer);
 
    Eigen::Matrix3d m_camera_center;
};