#ifndef __dance_foot_h__
#define __dance_foot_h__


#include "pub.h"

class DanceFoot
{
	public:
		DanceFoot(int LEFT_OR_RIGHT);
		DanceFoot() {};//添加一个缺省构造函数

		int setPosOffset(float Pos[3]);
		int setPosGlobal(float Pos[3]);
		int setAttitude(float att[3]);

		int setFootZupt(int zupt);
		int setFootRssi(int rssi);

		int setMaxRssi(int rssi);
		int setMinRssi(int rssi);

		int isMoveRssi(int rssi, int zupt);

		int calGlobalPos(float pos[3], int rssi, int zupt, int press);

		int posBoundary(float pos[3]);

		int isGlobalZero(float pos[3], float pos_offset[3], int rssi);

		int getDirection(float pos[3], float pos_offset[3], int rssi);

		int getDirectionCorner(float pos[3], float pos_offset[3]);

		int getDirectionLine(float pos[3], float pos_offset[3]);

		int getGameDiretion(float pos[3]);

		void printPosData(vector<posData> data);

		int isMove(vector<posData> data);

		void setLastPos(float* lastPos);

		void setLastZupt(int lastZupt);

		void setDanceTraj(float* traj);

		float calSlope(vector<posData> data);

		float getGamePos(int index);

		float calCor(vector<posData> data);

		int rssiFeature(vector<posData> data);

		int calGlobalPos(float pos_g[3], int rssi, int zupt, int press, int* acc);

		int getAccStatus(int zupt, int* acc, int* max_acc, int* min_acc);

	private:


		float gamePos[3];

		float last_pos[2];

		int last_zupt;

		float danceTraj[2];

		float rotate_err;

		float rotateCor[4];

		float last_pos_g[2] = { 0, 0 };

		float pos[2] = { 0, 0 };

		vector<posData> data;

		int left_or_right;

		int foot_rssi;
		int foot_zupt;

		int rssi_zupt;

		int max_rssi;
		int min_rssi;

		float attitude[3];
		float globalPos[3];
		float offsetPos[3];

		int pos_index;
		int zupt_count;

		int acc_status;

		int acc_max[3];

		int acc_min[3];
};

#endif