lowerleg_struct.h

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#ifndef _LOWERLEGSTRCT_H
#define _LOWERLEGSTRCT_H


#include<string>
#include<vector>

#include "cmtdef.h"
#include "xsens_time.h"
#include "xsens_list.h"
#include "cmtscan.h"
#include "cmt3.h"

using namespace std;

#define NB_LINKS_MAX 10

#define NB_PASS_WIRES_MAX 7

#define NB_ACT_WIRES_MAX 7

#define NB_ACCL_MAX 5

#define NB_FORCE_SENS_MAX 10

#define NB_OPTI_MARKER_MAX 20

#define NB_FREE_SENSORS_MAX 25

#define NB_OPT_DATA_MAX 25

#define NB_EXTERN_INFO_MAX 25

struct origin
{ 
  string lnk;
  double xa,ya,za;
};

struct LINK
{ 
  string label;

  int location[2];

  double P1[3],P2[3],P3[3], P4[3];
  
  float left_axis[3];
  float right_axis[3];
  
  int angle_data;
  
  string angle_1_LINK, angle_2_LINK;
  
  float angle_1[2];

  float angle_2[2];
};





struct collar
{ 
  int nb_LINKs;
  
  string LINK_labels[NB_LINKS_MAX];

  string shape_left[NB_LINKS_MAX];
    
  string shape_right[NB_LINKS_MAX];
    
};


struct sensor
{
  int label_id;

  string sensor_type;

  string point_label;
  
  string LINK_label;
  
  float xa,ya,za;
  
  float rot_matrix[3][3];

  float stiffness[10];

  float normal_axis[3];

  float free_param[10];

  int nb_pulley;

  vector< vector<double> > mdata;

  vector< vector<int> > point_flag;

};



struct collar_info
{
  int collar_ids[2];

  string LINK_labels[2];

  float P1[3];

  float P2[3];

  int sensor_id;

  int known_dist; 
  float dist[2];

  int dist_intvl;

  int free_param_state;

  int free_param_count;

  float free_param[30];
};

struct external_info
{

  int sensor_type;
  int sensor_id;
  
  int f_plate_type;
  
  float ref_point[3];

  float body_point[3];

  float sensor_parameters[25];

  int sensor_param_count;
};



struct tibia 
{

  collar col[2];

  origin C; 

  int angle_data;

  //  float passive_wire[NB_PASS_WIRES_MAX];
 
  LINK col_LINKs[2][NB_LINKS_MAX];
  //  LINK col2_LINKs[NB_LINKS_MAX];
  
  int pass_wire_count;
  int act_wire_count;
  int accl_count;
  int opti_count;
  int force_count;
  int free_count;
  int opt_col_count;
  int extern_data_count;
  int stat_foot_press;

  sensor accelerometers[NB_ACCL_MAX];
  sensor passive_wires[NB_PASS_WIRES_MAX];
  sensor active_wires[NB_ACT_WIRES_MAX];
  sensor force_sensors[NB_FORCE_SENS_MAX];
  sensor optical[NB_OPTI_MARKER_MAX];
  sensor free_sensors[NB_FREE_SENSORS_MAX];

  collar_info opt_col_data[NB_OPT_DATA_MAX];
  external_info extrn_data[NB_EXTERN_INFO_MAX];
};

typedef tibia femur;


struct leg{
  tibia tib;
  femur fem;
  vector<vector<double> > datapoints;
  vector<vector<double> > frame_refs;
  int userQuit;
  FILE *filep_act;
  unsigned int act_tib[7]; //there are 7 active sensors, this represents those connected to tibia
  unsigned int act_fem[7];
};


#endif