public boolean isRightHandRaised() {
// instance variables (that we don't use)
double leftAxis = 0;
double rightAxis = 0;
double leftAngle, rightAngle, headAngle, rightLegAngle, leftLegAngle, rightLegYZ, leftLegYZ;
boolean dataWithinExpectedRange;
boolean[] buttons = new boolean[8];
if (kinect.getSkeleton().GetTrackState() == Skeleton.tTrackState.kTracked) {
if (kinect.getSkeleton().GetWristRight().getY() > kinect.getSkeleton().GetHead().getY()) {
return true;
} else {
return false;
}
// Other important stuff (that's not important)
// /* Determine angle of each arm and map to range -1,1 */
// leftAngle = AngleXY(kinect.getSkeleton().GetShoulderLeft(),
// kinect.getSkeleton().GetWristLeft(), true);
// rightAngle = AngleXY(kinect.getSkeleton().GetShoulderRight(),
// kinect.getSkeleton().GetWristRight(), false);
// leftAxis = CoerceToRange(leftAngle, -70, 70, -1, 1);
// rightAxis = CoerceToRange(rightAngle, -70, 70, -1, 1);
//
// /* Check if arms are within valid range and at approximately the same
// z-value */
// dataWithinExpectedRange = leftAngle < ARM_MAX_ANGLE && leftAngle >
// ARM_MIN_ANGLE &&
// rightAngle < ARM_MAX_ANGLE && rightAngle >
// ARM_MIN_ANGLE;
// dataWithinExpectedRange = dataWithinExpectedRange &&
// InSameZPlane(kinect.getSkeleton().GetShoulderLeft(),
// kinect.getSkeleton().GetWristLeft(),
// Z_PLANE_TOLERANCE) &&
// InSameZPlane(kinect.getSkeleton().GetShoulderRight(),
// kinect.getSkeleton().GetWristRight(),
// Z_PLANE_TOLERANCE);
//
// /* Determine the head angle and use it to set the Head buttons */
// headAngle = AngleXY(kinect.getSkeleton().GetShoulderCenter(),
// kinect.getSkeleton().GetHead(), false);
// buttons[0] = headAngle > HEAD_LEFT;
// buttons[1] = headAngle < HEAD_RIGHT;
//
// /* Calculate the leg angles in the XY plane and use them to set the Leg Out
// buttons */
// leftLegAngle = AngleXY(kinect.getSkeleton().GetHipLeft(),
// kinect.getSkeleton().GetAnkleLeft(), true);
// rightLegAngle = AngleXY(kinect.getSkeleton().GetHipRight(),
// kinect.getSkeleton().GetAnkleRight(), false);
// buttons[2] = leftLegAngle > LEG_OUT;
// buttons[3] = rightLegAngle > LEG_OUT;
//
// /* Calculate the leg angle in the YZ plane and use them to set the Leg
// Forward and Leg Back buttons */
// leftLegYZ = AngleYZ(kinect.getSkeleton().GetHipLeft(),
// kinect.getSkeleton().GetAnkleLeft(), false);
// rightLegYZ = AngleYZ(kinect.getSkeleton().GetHipRight(),
// kinect.getSkeleton().GetAnkleRight(), false);
// buttons[4] = rightLegYZ < LEG_FORWARD;
// buttons[5] = rightLegYZ > LEG_BACKWARD;
// buttons[6] = leftLegYZ < LEG_FORWARD;
// buttons[7] = leftLegYZ > LEG_BACKWARD;
}
return false;
}
public KinectSubsystem() {
kinect = Kinect.getInstance();
}
