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# Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.
#
# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.
class XSensConstants:
"""
\brief Transformations segment_tXYZ and segment_qWXYZ are defined as
from XSens segment/part coordinates to XSens world coordinates.
See XSens manual for details.
"""
num_parts: int = 23
num_bones: int = 22
num_sensors: int = 17
k_timestamps_us: str = "timestamps_us"
k_frame_count: str = "frameCount"
k_framerate: str = "frameRate"
k_part_tXYZ: str = "segment_tXYZ"
k_part_qWXYZ: str = "segment_qWXYZ"
k_ipose_part_tXYZ: str = "identity_segment_tXYZ"
k_ipose_part_qWXYZ: str = "identity_segment_qWXYZ"
k_tpose_part_tXYZ: str = "tpose_segment_tXYZ"
k_tpose_part_qWXYZ: str = "tpose_segment_qWXYZ"
k_foot_contacts: str = "foot_contacts"
k_sensor_tXYZ: str = "sensor_tXYZ"
k_sensor_qWXYZ: str = "sensor_qWXYZ"
part_names = [
"Pelvis",
"L5",
"L3",
"T12",
"T8",
"Neck",
"Head",
"R_Shoulder",
"R_UpperArm",
"R_Forearm",
"R_Hand",
"L_Shoulder",
"L_UpperArm",
"L_Forearm",
"L_Hand",
"R_UpperLeg",
"R_LowerLeg",
"R_Foot",
"R_Toe",
"L_UpperLeg",
"L_LowerLeg",
"L_Foot",
"L_Toe",
] # num = 23
kintree_parents: list[int] = [
-1,
0,
1,
2,
3,
4,
5,
4,
7,
8,
9,
4,
11,
12,
13,
0,
15,
16,
17,
0,
19,
20,
21,
] # num = 23
sensor_names: list[int] = [
"Pelvis",
"T8",
"Head",
"RightShoulder",
"RightUpperArm",
"RightForeArm",
"RightHand",
"LeftShoulder",
"LeftUpperArm",
"LeftForeArm",
"LeftHand",
"RightUpperLeg",
"RightLowerLeg",
"RightFoot",
"LeftUpperLeg",
"LeftLowerLeg",
"LeftFoot",
] # num = 17
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