mmm_body_68.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <SimoxUtility/color/Color.h>
#include <SimoxUtility/meta/enum/EnumNames.hpp>
 
 
namespace armarx::human::pose::model::mmm_body_68
{
    inline const std::string ModelId = "MMM_BODY_68";
 
    enum class Joints
    {
        HeadTip,
        MidHeadSegment_joint,
        NeckAnatomicallyUpper,
        NeckAnatomicallyLower,
        Neck,
 
        EyeLeftProjected,
        EyeLeft,
        EyeRightProjected,
        EyeRight,
 
        ShoulderLeft,
        ClavicleLeft,
        ElbowLeft,
        WristLeft,
 
        ShoulderRight,
        ClavicleRight,
        ElbowRight,
        WristRight,
 
        ThumbCarpometacarpalLeft,
        ThumbMetacarpophalangealLeft,
        ThumbDistalInterphalangealLeft,
        //
        IndexMetacarpophalangealLeft,
        IndexProximalInterphalangealLeft,
        IndexDistalInterphalangealLeft,
        //
        MiddleMetacarpophalangealLeft,
        MiddleProximalInterphalangealLeft,
        MiddleDistalInterphalangealLeft,
        //
        RingFingersCarpometacarpalLeft,
        RingMetacarpophalangealLeft,
        RingProximalInterphalangealLeft,
        RingDistalInterphalangealLeft,
        //
        PinkyFingersCarpometacarpalLeft,
        PinkyMetacarpophalangealLeft,
        PinkyProximalInterphalangealLeft,
        PinkyDistalInterphalangealLeft,
        //
        HandTCPLeft,
 
        ThumbCarpometacarpalRight,
        ThumbMetacarpophalangealRight,
        ThumbDistalInterphalangealRight,
        //
        IndexMetacarpophalangealRight,
        IndexProximalInterphalangealRight,
        IndexDistalInterphalangealRight,
        //
        MiddleMetacarpophalangealRight,
        MiddleProximalInterphalangealRight,
        MiddleDistalInterphalangealRight,
        //
        RingFingersCarpometacarpalRight,
        RingMetacarpophalangealRight,
        RingProximalInterphalangealRight,
        RingDistalInterphalangealRight,
        //
        PinkyFingersCarpometacarpalRight,
        PinkyMetacarpophalangealRight,
        PinkyProximalInterphalangealRight,
        PinkyDistalInterphalangealRight,
        //
        HandTCPRight,
 
        Torso,
        PelvisAnatomically,
        Pelvis,
 
        HipLeft,
        KneeLeft,
        AnkleLeft,
 
        HipRight,
        KneeRight,
        AnkleRight,
 
        HeelLeft,
        ToeLeft,
        FootInversionLeft,
        FootToeFlexionLeft,
 
        HeelRight,
        ToeRight,
        FootInversionRight,
        FootToeFlexionRight
    };
 
    inline const simox::meta::EnumNames<Joints> JointNames{
        {Joints::HeadTip, "HeadSegment_joint"},
        {Joints::MidHeadSegment_joint, "MidHeadSegment_joint"},
        // Upper and lower neck as defined in the MMM Model
        {Joints::NeckAnatomicallyUpper, "BUNsegment_joint"},
        {Joints::NeckAnatomicallyLower, "BLNsegment_joint"},
        // to comply with other models, like K4ABT_BODY_32 and BODY_25, use the mid
        // between the left and right hip as "Neck"
        {Joints::Neck, "collarSegment_joint"},
 
        {Joints::EyeLeftProjected, "LeftEyeSegmentX_joint"},
        {Joints::EyeLeft, "LeftEyeSegmentY_joint"},
        {Joints::EyeRightProjected, "RightEyeSegmentX_joint"},
        {Joints::EyeRight, "RightEyeSegmentY_joint"},
 
        {Joints::ShoulderLeft, "LSsegment_joint"},
        {Joints::ClavicleLeft, "LSCsegment_joint"},
        {Joints::ElbowLeft, "LEsegment_joint"},
        {Joints::WristLeft, "LWsegment_joint"},
 
        {Joints::ShoulderRight, "RSsegment_joint"},
        {Joints::ClavicleRight, "RSCsegment_joint"},
        {Joints::ElbowRight, "REsegment_joint"},
        {Joints::WristRight, "RWsegment_joint"},
 
        {Joints::ThumbCarpometacarpalLeft, "LeftFingerJoint11z_joint"},
        {Joints::ThumbMetacarpophalangealLeft, "LeftFingerJoint12y_joint"},
        {Joints::ThumbDistalInterphalangealLeft, "LeftFingerJoint13z_joint"},
        //
        {Joints::IndexMetacarpophalangealLeft, "LeftFingerJoint21y_joint"},
        {Joints::IndexProximalInterphalangealLeft, "LeftFingerJoint22y_joint"},
        {Joints::IndexDistalInterphalangealLeft, "LeftFingerJoint23y_joint"},
        //
        {Joints::MiddleMetacarpophalangealLeft, "LeftFingerJoint31y_joint"},
        {Joints::MiddleProximalInterphalangealLeft, "LeftFingerJoint32y_joint"},
        {Joints::MiddleDistalInterphalangealLeft, "LeftFingerJoint33y_joint"},
        //
        {Joints::RingFingersCarpometacarpalLeft, "LeftFingerJoint40y_joint"},
        {Joints::RingMetacarpophalangealLeft, "LeftFingerJoint41y_joint"},
        {Joints::RingProximalInterphalangealLeft, "LeftFingerJoint42y_joint"},
        {Joints::RingDistalInterphalangealLeft, "LeftFingerJoint43y_joint"},
        //
        {Joints::PinkyFingersCarpometacarpalLeft, "LeftFingerJoint50y_joint"},
        {Joints::PinkyMetacarpophalangealLeft, "LeftFingerJoint51y_joint"},
        {Joints::PinkyProximalInterphalangealLeft, "LeftFingerJoint52y_joint"},
        {Joints::PinkyDistalInterphalangealLeft, "LeftFingerJoint53y_joint"},
        //
        {Joints::HandTCPLeft, "Hand L TCP"},
 
        {Joints::ThumbCarpometacarpalRight, "RightFingerJoint11z_joint"},
        {Joints::ThumbMetacarpophalangealRight, "RightFingerJoint12y_joint"},
        {Joints::ThumbDistalInterphalangealRight, "RightFingerJoint13z_joint"},
        //
        {Joints::IndexMetacarpophalangealRight, "RightFingerJoint21y_joint"},
        {Joints::IndexProximalInterphalangealRight, "RightFingerJoint22y_joint"},
        {Joints::IndexDistalInterphalangealRight, "RightFingerJoint23y_joint"},
        //
        {Joints::MiddleMetacarpophalangealRight, "RightFingerJoint31y_joint"},
        {Joints::MiddleProximalInterphalangealRight, "RightFingerJoint32y_joint"},
        {Joints::MiddleDistalInterphalangealRight, "RightFingerJoint33y_joint"},
        //
        {Joints::RingFingersCarpometacarpalRight, "RightFingerJoint40y_joint"},
        {Joints::RingMetacarpophalangealRight, "RightFingerJoint41y_joint"},
        {Joints::RingProximalInterphalangealRight, "RightFingerJoint42y_joint"},
        {Joints::RingDistalInterphalangealRight, "RightFingerJoint43y_joint"},
        //
        {Joints::PinkyFingersCarpometacarpalRight, "RightFingerJoint50y_joint"},
        {Joints::PinkyMetacarpophalangealRight, "RightFingerJoint51y_joint"},
        {Joints::PinkyProximalInterphalangealRight, "RightFingerJoint52y_joint"},
        {Joints::PinkyDistalInterphalangealRight, "RightFingerJoint53y_joint"},
        //
        {Joints::HandTCPRight, "Hand R TCP"},
 
        {Joints::Torso, "BTSegment_joint"},
        // Pelvis as defined in the MMM Model
        {Joints::PelvisAnatomically, "BPSegment_joint"},
        // to comply with other models, like K4ABT_BODY_32 and BODY_25, that use the mid
        // between the left and right hip as "Pelvis"
        {Joints::Pelvis, "root_joint"},
 
        {Joints::HipLeft, "LHsegment_joint"},
        {Joints::KneeLeft, "LKsegment_joint"},
        {Joints::AnkleLeft, "LAsegment_joint"},
 
        {Joints::HipRight, "RHsegment_joint"},
        {Joints::KneeRight, "RKsegment_joint"},
        {Joints::AnkleRight, "RAsegment_joint"},
 
        {Joints::HeelLeft, "LeftFootHeight_joint"},
        {Joints::ToeLeft, "LeftFootLength_joint"},
        {Joints::FootInversionLeft, "LMrot_joint"}, // ?
        {Joints::FootToeFlexionLeft, "LFx_joint"}, // ?
 
        {Joints::HeelRight, "RightFootHeight_joint"},
        {Joints::ToeRight, "RightFootLength_joint"},
        {Joints::FootInversionRight, "RMrot_joint"}, // ?
        {Joints::FootToeFlexionRight, "RFx_joint"}, // ?
    };
 
 
    inline const std::vector<std::pair<Joints, Joints>> Segments = {
        {Joints::HeadTip, Joints::MidHeadSegment_joint},
        {Joints::MidHeadSegment_joint, Joints::EyeLeftProjected},
        {Joints::MidHeadSegment_joint, Joints::EyeRightProjected},
        {Joints::EyeLeftProjected, Joints::EyeLeft},
        {Joints::EyeRightProjected, Joints::EyeRight},
        {Joints::MidHeadSegment_joint, Joints::NeckAnatomicallyUpper},
        {Joints::NeckAnatomicallyUpper, Joints::NeckAnatomicallyLower},
        {Joints::NeckAnatomicallyLower, Joints::Neck},
 
        {Joints::Neck, Joints::ClavicleLeft},
        {Joints::ClavicleLeft, Joints::ShoulderLeft},
        {Joints::ShoulderLeft, Joints::ElbowLeft},
        {Joints::ElbowLeft, Joints::WristLeft},
 
        {Joints::Neck, Joints::ClavicleRight},
        {Joints::ClavicleRight, Joints::ShoulderRight},
        {Joints::ShoulderRight, Joints::ElbowRight},
        {Joints::ElbowRight, Joints::WristRight},
 
        {Joints::WristLeft, Joints::ThumbCarpometacarpalLeft},
        {Joints::ThumbCarpometacarpalLeft, Joints::ThumbMetacarpophalangealLeft},
        {Joints::ThumbMetacarpophalangealLeft, Joints::ThumbDistalInterphalangealLeft},
        //
        {Joints::WristLeft, Joints::IndexMetacarpophalangealLeft},
        {Joints::IndexMetacarpophalangealLeft, Joints::IndexProximalInterphalangealLeft},
        {Joints::IndexProximalInterphalangealLeft, Joints::IndexDistalInterphalangealLeft},
        //
        {Joints::WristLeft, Joints::MiddleMetacarpophalangealLeft},
        {Joints::MiddleMetacarpophalangealLeft, Joints::MiddleProximalInterphalangealLeft},
        {Joints::MiddleProximalInterphalangealLeft, Joints::MiddleDistalInterphalangealLeft},
        //
        {Joints::WristLeft, Joints::RingFingersCarpometacarpalLeft},
        {Joints::RingFingersCarpometacarpalLeft, Joints::RingMetacarpophalangealLeft},
        {Joints::RingMetacarpophalangealLeft, Joints::RingProximalInterphalangealLeft},
        {Joints::RingProximalInterphalangealLeft, Joints::RingDistalInterphalangealLeft},
        //
        {Joints::WristLeft, Joints::PinkyFingersCarpometacarpalLeft},
        {Joints::PinkyFingersCarpometacarpalLeft, Joints::PinkyMetacarpophalangealLeft},
        {Joints::PinkyMetacarpophalangealLeft, Joints::PinkyProximalInterphalangealLeft},
        {Joints::PinkyProximalInterphalangealLeft, Joints::PinkyDistalInterphalangealLeft},
        //
        //{Joints::WristLeft, Joints::HandTCPLeft},
 
        {Joints::WristRight, Joints::ThumbCarpometacarpalRight},
        {Joints::ThumbCarpometacarpalRight, Joints::ThumbMetacarpophalangealRight},
        {Joints::ThumbMetacarpophalangealRight, Joints::ThumbDistalInterphalangealRight},
        //
        {Joints::WristRight, Joints::IndexMetacarpophalangealRight},
        {Joints::IndexMetacarpophalangealRight, Joints::IndexProximalInterphalangealRight},
        {Joints::IndexProximalInterphalangealRight, Joints::IndexDistalInterphalangealRight},
        //
        {Joints::WristRight, Joints::MiddleMetacarpophalangealRight},
        {Joints::MiddleMetacarpophalangealRight, Joints::MiddleProximalInterphalangealRight},
        {Joints::MiddleProximalInterphalangealRight, Joints::MiddleDistalInterphalangealRight},
        //
        {Joints::WristRight, Joints::RingFingersCarpometacarpalRight},
        {Joints::RingFingersCarpometacarpalRight, Joints::RingMetacarpophalangealRight},
        {Joints::RingMetacarpophalangealRight, Joints::RingProximalInterphalangealRight},
        {Joints::RingProximalInterphalangealRight, Joints::RingDistalInterphalangealRight},
        //
        {Joints::WristRight, Joints::PinkyFingersCarpometacarpalRight},
        {Joints::PinkyFingersCarpometacarpalRight, Joints::PinkyMetacarpophalangealRight},
        {Joints::PinkyMetacarpophalangealRight, Joints::PinkyProximalInterphalangealRight},
        {Joints::PinkyProximalInterphalangealRight, Joints::PinkyDistalInterphalangealRight},
        //
        //{Joints::WristRight, Joints::HandTCPRight},
 
        {Joints::Neck, Joints::Torso},
        {Joints::Torso, Joints::PelvisAnatomically},
        {Joints::PelvisAnatomically, Joints::Pelvis},
 
        {Joints::Pelvis, Joints::HipLeft},
        {Joints::HipLeft, Joints::KneeLeft},
        {Joints::KneeLeft, Joints::AnkleLeft},
 
        {Joints::Pelvis, Joints::HipRight},
        {Joints::HipRight, Joints::KneeRight},
        {Joints::KneeRight, Joints::AnkleRight},
 
        {Joints::AnkleLeft, Joints::HeelLeft},
        {Joints::HeelLeft, Joints::ToeLeft},
        {Joints::AnkleRight, Joints::FootInversionLeft},
        {Joints::FootInversionLeft, Joints::FootToeFlexionLeft},
 
        {Joints::AnkleRight, Joints::HeelRight},
        {Joints::HeelRight, Joints::ToeRight},
        {Joints::AnkleRight, Joints::FootInversionRight},
        {Joints::FootInversionRight, Joints::FootToeFlexionRight}
    };
 
 
    inline const std::map<Joints, simox::Color> Colors = {
        {Joints::HeadTip, {0.68f, 0.51f, 0.33f}},
        {Joints::MidHeadSegment_joint, {0.68f, 0.51f, 0.33f}},
        {Joints::NeckAnatomicallyUpper, {0.68f, 0.51f, 0.33f}},
        {Joints::NeckAnatomicallyLower, {0.68f, 0.51f, 0.33f}},
        {Joints::Neck, {0.68f, 0.51f, 0.33f}},
        {Joints::EyeLeftProjected, {0.68f, 0.51f, 0.33f}},
        {Joints::EyeLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::EyeRightProjected, {0.68f, 0.51f, 0.33f}},
        {Joints::EyeRight, {0.68f, 0.51f, 0.33f}},
        {Joints::ShoulderLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::ClavicleLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::ElbowLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::WristLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::ShoulderRight, {0.68f, 0.51f, 0.33f}},
        {Joints::ClavicleRight, {0.68f, 0.51f, 0.33f}},
        {Joints::ElbowRight, {0.68f, 0.51f, 0.33f}},
        {Joints::WristRight, {0.68f, 0.51f, 0.33f}},
        {Joints::ThumbCarpometacarpalLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::ThumbMetacarpophalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::ThumbDistalInterphalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::IndexMetacarpophalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::IndexProximalInterphalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::IndexDistalInterphalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::MiddleMetacarpophalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::MiddleProximalInterphalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::MiddleDistalInterphalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::RingFingersCarpometacarpalLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::RingMetacarpophalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::RingProximalInterphalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::RingDistalInterphalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::PinkyFingersCarpometacarpalLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::PinkyMetacarpophalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::PinkyProximalInterphalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::PinkyDistalInterphalangealLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::HandTCPLeft, {1.f, 1.f, 1.f, 0.25f}},
        {Joints::ThumbCarpometacarpalRight, {0.68f, 0.51f, 0.33f}},
        {Joints::ThumbMetacarpophalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::ThumbDistalInterphalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::IndexMetacarpophalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::IndexProximalInterphalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::IndexDistalInterphalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::MiddleMetacarpophalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::MiddleProximalInterphalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::MiddleDistalInterphalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::RingFingersCarpometacarpalRight, {0.68f, 0.51f, 0.33f}},
        {Joints::RingMetacarpophalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::RingProximalInterphalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::RingDistalInterphalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::PinkyFingersCarpometacarpalRight, {0.68f, 0.51f, 0.33f}},
        {Joints::PinkyMetacarpophalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::PinkyProximalInterphalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::PinkyDistalInterphalangealRight, {0.68f, 0.51f, 0.33f}},
        {Joints::HandTCPRight, {1.f, 1.f, 1.f, 0.25f}},
        {Joints::Torso, {0.68f, 0.51f, 0.33f}},
        {Joints::PelvisAnatomically, {0.68f, 0.51f, 0.33f}},
        {Joints::Pelvis, {0.68f, 0.51f, 0.33f}},
        {Joints::HipLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::KneeLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::AnkleLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::HipRight, {0.68f, 0.51f, 0.33f}},
        {Joints::KneeRight, {0.68f, 0.51f, 0.33f}},
        {Joints::AnkleRight, {0.68f, 0.51f, 0.33f}},
        {Joints::HeelLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::ToeLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::FootInversionLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::FootToeFlexionLeft, {0.68f, 0.51f, 0.33f}},
        {Joints::HeelRight, {0.68f, 0.51f, 0.33f}},
        {Joints::ToeRight, {0.68f, 0.51f, 0.33f}},
        {Joints::FootInversionRight, {0.68f, 0.51f, 0.33f}},
        {Joints::FootToeFlexionRight, {0.68f, 0.51f, 0.33f}}
    };
 
} // namespace armarx::human::pose::model::mmm_body_68