Machine.h

//
// Created by chenyuan on 19-1-25.
//

#ifndef MACHINE_H
#define MACHINE_H

#include <iostream>
#include <vector>
#include <math.h>
//#include "WsHub.h"
using namespace std;

class Machine {
private:
    class MachineState *current_;
    std::vector<float> keypoints_;
    float shoulder_width_;

public:
    Machine();
    ~Machine();
    void setCurrent(MachineState *s) {
        current_ = s;
    }
    void run();
    void setKeypoints(std::vector<float> &keypoints) {
        keypoints_ = keypoints;
        shoulder_width_ = keypoints_.at(0) < 0 ? 1 : fabsf(keypoints_.at(0) - keypoints_.at(2)) * 2;
    }
    const std::vector<float> &getKeypoints() const {
        return keypoints_;
    }
    int count_ = 0;
    //WsHub wsHub;
};

class MachineState {
public:
    virtual void handle(Machine *m) = 0; //纯虚函数
};

class UpState : public MachineState {
private:

public:
    UpState() {}
    ~UpState() = default;
    void handle(Machine *m) override;
};

class DownState : public MachineState {
private:
public:
    DownState() {}
    ~DownState() = default;
    void handle(Machine *m) override;
};

#endif