| | Input: Human motion capture system data dataHuman, SRL servo motor data dataSRL |
| | Output: Display a human-SRL skeleton on a monitor terminal. |
| | //Build a human skeleton model |
| (1) | modHumSke←BuildHum() |
| | //Build an SRL skeleton model |
| (2) | modSRLSke←BuildSRL() |
| | //Build a human-SRL skeleton model |
| (3) | modSke←BuildHumSRL() |
| (4) | while true do |
| | //Set a sampling time step |
| (5) | step←SetStep() |
| | //Collect motion capture system data and servo motor data |
| (6) | dataHuman←DataColHum(dataPort1) |
| (7) | dataSRL←DataColSRL(dataPort2) |
| | //Decoding, encoding, and integration of the motion capture system data and the servo motor data |
| (8) | dataDecHum←DecodingHum(dataHuman, modHumSke) |
| (9) | dataDecSRL←DecodingSRL(dataSRL, modSRLSke) |
| (10) | dataEncSRL←EncodingSRL(dataDecSRL, modSRLSke) |
| (11) | dataIntHumSRL←Integration(dataDecHum, dataEncSRL, modSke) |
| | //Get skeleton model node position data dataNodePos and node connection relationship data dataNodeCon |
| (12) | (dataNodePos, dataNodeCon)←GetNodePos(modSke) |
| | //Visualize the human-SRL skeleton |
| (13) | modSkeHandle←Visualizing(dataNodePos, dataNodeCon, dataIntHumSRL) |
| (14) | end while |
