int getComponentNames (ClientData clientData, Tcl_Interp *interp, int argc, CONST84 char **argv){
// getComponentNames stateIdx trajectoryIdx
if( argc != 3 ) return TCL_ERROR;
ControllerEditor* obj = (ControllerEditor*)clientData;
int idx = atoi( argv[1] );
SimBiConState* state = obj->getFramework()->getController()->getState( idx );
if( !state ) return TCL_ERROR;
idx = atoi( argv[2] );
Trajectory* trajectory = state->getTrajectory( idx );
if( !trajectory ) return TCL_ERROR;
DynamicArray<const char*> componentNames;
for( uint i = 0; i < trajectory->components.size(); ++i ) {
char* componentName = new char[ 32 ];
sprintf( componentName, "Component %d", i );
componentNames.push_back( componentName );
}
char* result = stringListToTclList( componentNames );
for( uint i = 0; i < componentNames.size(); ++i )
delete[] componentNames[i];
Tcl_SetResult(interp, result, TCL_DYNAMIC);
return TCL_OK;
}
int trajectoryToEdit(ClientData clientData, Tcl_Interp *interp, int argc, CONST84 char **argv){
// selectCurveToEdit stateIdx trajectoryIdx
if( argc != 3 ) return TCL_ERROR;
ControllerEditor* obj = (ControllerEditor*)clientData;
int idx = atoi( argv[1] );
SimBiConState* state = obj->getFramework()->getController()->getState( idx );
if( !state ) return TCL_ERROR;
idx = atoi( argv[2] );
Trajectory* trajectory = state->getTrajectory( idx );
if( !trajectory ) return TCL_ERROR;
obj->clearEditedCurves();
for( uint i = 0; i < trajectory->components.size(); ++i ) {
obj->addEditedCurve( &trajectory->components[i]->baseTraj );
}
if( trajectory->strengthTraj != NULL ) {
obj->addEditedCurve( trajectory->strengthTraj );
}
return TCL_OK;
}
int getTrajectoryNames (ClientData clientData, Tcl_Interp *interp, int argc, CONST84 char **argv){
// getComponentNames stateIdx
if( argc != 2 ) return TCL_ERROR;
ControllerEditor* obj = (ControllerEditor*)clientData;
int idx = atoi( argv[1] );
SimBiConState* state = obj->getFramework()->getController()->getState( idx );
if( !state ) return TCL_ERROR;
DynamicArray<const char*> trajectoryNames;
for( int i = 0; i < state->getTrajectoryCount(); ++i ) {
Trajectory* trajectory = state->getTrajectory( i );
trajectoryNames.push_back( trajectory->jName );
}
char* result = stringListToTclList( trajectoryNames );
Tcl_SetResult(interp, result, TCL_DYNAMIC);
return TCL_OK;
}
/**
this method is used to set the offsets for any and all components of trajectories..
*/
void BipV3BalanceController::applyTrajectoryOffsets(){
// return;
//huge hack for now...
SimBiConState* curState = standingBalanceController->states[con->FSMStateIndex];
Trajectory* tmpTraj;
SimGlobals::rootSagittal = SimGlobals::stanceKnee / 10.0;
tmpTraj = curState->getTrajectory("root");
tmpTraj->components[2]->offset = SimGlobals::rootSagittal;
tmpTraj = curState->getTrajectory("pelvis_lowerback");
tmpTraj->components[2]->offset = SimGlobals::rootSagittal*1.5;
tmpTraj = curState->getTrajectory("lowerback_torso");
tmpTraj->components[2]->offset = SimGlobals::rootSagittal*2;
tmpTraj = curState->getTrajectory("torso_head");
tmpTraj->components[2]->offset = SimGlobals::rootSagittal*2.1;
/*
tmpTraj = curState->getTrajectory("root");
tmpTraj->components[0]->offset = SimGlobals::rootSagittal;
tmpTraj = curState->getTrajectory("pelvis_lowerback");
tmpTraj->components[0]->offset = SimGlobals::rootSagittal*1.5;
tmpTraj = curState->getTrajectory("lowerback_torso");
tmpTraj->components[0]->offset = SimGlobals::rootSagittal*2;
tmpTraj = curState->getTrajectory("torso_head");
tmpTraj->components[0]->offset = SimGlobals::rootSagittal*3;
*/
/*
tmpTraj = curState->getTrajectory("root");
tmpTraj->components[1]->offset = SimGlobals::rootSagittal;
tmpTraj = curState->getTrajectory("pelvis_lowerback");
tmpTraj->components[1]->offset = SimGlobals::rootSagittal*1.5;
tmpTraj = curState->getTrajectory("lowerback_torso");
tmpTraj->components[1]->offset = SimGlobals::rootSagittal*2;
tmpTraj = curState->getTrajectory("torso_head");
tmpTraj->components[1]->offset = SimGlobals::rootSagittal*3;
*/
tmpTraj = curState->getTrajectory("STANCE_Knee");
tmpTraj->components[0]->offset = SimGlobals::stanceKnee;
tmpTraj = curState->getTrajectory("SWING_Knee");
tmpTraj->components[0]->offset = SimGlobals::stanceKnee;
/*
tmpTraj = curState->getTrajectory("SWING_Hip");
tmpTraj->components[0]->offset = SimGlobals::swingHipSagittal;
// tmpTraj = curState->getTrajectory("root");
// tmpTraj->components[0]->offset = SimGlobals::swingHipSagittal;
// tmpTraj->components[1]->offset = SimGlobals::swingHipLateral;
// tmpTraj = curState->getTrajectory("STANCE_Hip");
// tmpTraj->components[0]->offset = 0;
// tmpTraj->components[1]->offset = 0;
// tmpTraj = curState->getTrajectory("STANCE_Ankle");
// tmpTraj->components[0]->offset = SimGlobals::stanceAngleSagittal;
// tmpTraj->components[1]->offset = SimGlobals::stanceAngleLateral;
// tmpTraj = curState->getTrajectory("SWING_Ankle");
// tmpTraj->components[0]->offset = 0;
// tmpTraj->components[1]->offset = 0;
tmpTraj = curState->getTrajectory("STANCE_Knee");
tmpTraj->components[0]->offset = SimGlobals::stanceKnee;
tmpTraj = curState->getTrajectory("SWING_Knee");
tmpTraj->components[0]->offset = SimGlobals::stanceKnee;
*/
}
