gloveConstants.h

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#ifndef GLOVECONSTANTS_H
#define GLOVECONSTANTS_H

const double PI = 3.14159;

const int MIN_JOINT_RESOLUTION = 10;
const unsigned int GLOVERAW_MAP2_GLOVEINVENTOR_DEFAULT[22] = {  /*0*/21, // wrist left/right
                                                                /*1*/20, // wrist up/down
                                                       
                                                                /*2*/3,  // thumb abdunction
                                                                /*3*/0,  // thumb root
                                                                /*4*/1,  // thumb middle
                                                                /*5*/2,  // thumb top
                                                       
                                                                /*6*/4,  // index root 
                                                                /*7*/10, // index abdunction
                                                                /*8*/5,  // index middle
                                                                /*9*/6,  // index top
                                                       
                                                                /*10*/7, // middle root
                                                                /*11*/19,// palm abdunction,ignored
                                                                /*12*/8, // middle middle
                                                                /*13*/9, // middle top
                                                       
                                                                /*14*/11,// ring root
                                                                /*15*/14,// ring abdunction
                                                                /*16*/12,// ring middle
                                                                /*17*/13,// ring top
                                                       
                                                                /*18*/15,// pinky root
                                                                /*19*/18,// pinky abdunction
                                                                /*20*/16,// pinky middle
                                                                /*21*/17 // pinky top
};

/* parameters for angle */
// ALTE VERSION. PROBLEME MIT ABDUNCTION VON RING UND PINKY
// const unsigned int GLOVERAW_MAP2_GLOVEINVENTOR_DEFAULT[22] = {  /*0*/21, // wrist left/right
//                                                              /*1*/20, // wrist up/down
                                                       
//                                                              /*2*/3,  // thumb abdunction
//                                                              /*3*/0,  // thumb root
//                                                              /*4*/1,  // thumb middle
//                                                              /*5*/2,  // thumb top
                                                       
//                                                              /*6*/4,  // index root 
//                                                              /*7*/10, // index abdunction
//                                                              /*8*/5,  // index middle
//                                                              /*9*/6,  // index top
                                                       
//                                                              /*10*/7, // middle root
//                                                              /*11*/14,// middle abdunction
//                                                              /*12*/8, // middle middle
//                                                              /*13*/9, // middle top
                                                       
//                                                              /*14*/11,// ring root
//                                                              /*15*/18,// ring abdunction
//                                                              /*16*/12,// ring middle
//                                                              /*17*/13,// ring top
                                                       
//                                                              /*18*/15,// pinky root
//                                                              /*19*/19,// pinky abdunction
//                                                              /*20*/16,// pinky middle
//                                                              /*21*/17 // pinky top
// };


const char *JOINT_NAME[] = {"wrist-left-right",
                             "wrist-up-down",

                             "thumb-abdunction",
                             "thumb-root",
                             "thumb-middle",
                            "thumb-top",

                             "index-root",
                             "index-abdunction",
                             "index-middle",
                             "index-top",

                             "middle-root",
                             "middle-abdunction",
                             "middle-middle",
                             "middle-top",

                             "ring-root",
                             "ring-abdunction",
                             "ring-middle",
                             "ring-top",

                             "pinky-root",
                             "pinky-abdunction",
                             "pinky-middle",
                             "pinky-top"
};

const double RADLIMIT[22][2] = { /*0*/ {0, PI/2},  /*1*/ {0, PI/2},  /*2*/ {0, PI/2},  /*3*/ {0, PI/4},
                                 /*4*/ {0, PI/2},  /*5*/ {0, PI/2},  /*6*/ {0, PI/2},  /*7*/ {0, PI/2},
                                 /*8*/ {0, PI/2},  /*9*/ {0, PI/2}, /*10*/ {0, PI/4}, /*11*/ {0, PI/2},
                                /*12*/ {0, PI/2}, /*13*/ {0, PI/2}, /*14*/ {0, PI/4}, /*15*/ {0, PI/2},
                                /*16*/ {0, PI/2}, /*17*/ {0, PI/2}, /*18*/ {0, PI/4}, /*19*/ {0, PI/2},
                                /*20*/ {0, PI/2}, /*21*/ {0, PI/2}
};

const int RADSIGN[22] = { /*0*/ 1,  /*1*/ 1,  /*2*/ 1,  /*3*/ 1,
                          /*4*/ 1,  /*5*/ 1,  /*6*/ 1,  /*7*/ 1,
                          /*8*/ 1,  /*9*/ 1, /*10*/ 1, /*11*/ 1,
                         /*12*/ 1, /*13*/ 1, /*14*/ 1, /*15*/ 1,
                         /*16*/ 1, /*17*/ 1, /*18*/ 1, /*19*/ 1,
                         /*20*/ 1, /*21*/ 1
};

#endif