def configure_rider(pathToRider, bicycle, bicyclePar, measuredPar, draw):
"""
Returns the rider parameters, bicycle paramaters with a rider and a
human object that is configured to sit on the bicycle.
Parameters
----------
pathToRider : string
Path to the rider's data folder.
bicycle : string
The short name of the bicycle.
bicyclePar : dictionary
Contains the benchmark bicycle parameters for a bicycle.
measuredPar : dictionary
Contains the measured values of the bicycle.
draw : boolean, optional
If true, visual python will be used to draw a three dimensional
image of the rider.
Returns
-------
riderpar : dictionary
The inertial parameters of the rider with reference to the
benchmark coordinate system.
human : yeadon.human
The human object that represents the rider seated on the
bicycle.
bicycleRiderPar : dictionary
The benchmark parameters of the bicycle with the rider added to
the rear frame.
"""
try:
# get the rider name
rider = os.path.split(pathToRider)[1]
# get the paths to the yeadon data files
pathToYeadon = os.path.join(pathToRider, 'RawData',
rider + 'YeadonMeas.txt')
pathToCFG = os.path.join(pathToRider, 'RawData',
rider + bicycle + 'YeadonCFG.txt')
# generate the human that has been configured to sit on the bicycle
human = rider_on_bike(bicyclePar, measuredPar,
pathToYeadon, pathToCFG, draw)
# build a dictionary to store the inertial data
riderPar = {'IBxx': human.Inertia[0, 0],
'IByy': human.Inertia[1, 1],
'IBzz': human.Inertia[2, 2],
'IBxz': human.Inertia[2, 0],
'mB': human.Mass,
'xB': human.COM[0][0],
'yB': human.COM[1][0],
'zB': human.COM[2][0]}
except: #except if this fails
# no rider was added
print('Calculations in yeadon failed. No rider added.')
# raise the error that caused things to fail
raise
else:
bicycleRiderPar = combine_bike_rider(bicyclePar, riderPar)
return riderPar, human, bicycleRiderPar
def add_rider(self, riderName, reCalc=False, draw=False):
"""
Adds the inertial effects of a rigid rider to the bicycle.
Parameters
----------
riderName : string
A rider name that corresponds to a folder in
`<pathToData>/riders/`.
reCalc : boolean, optional
If true, the rider parameters will be recalculated.
draw : boolean, optional
If true, visual python will be used to draw a three dimensional
image of the rider.
"""
# can't draw the rider model without the human object
if draw:
reCalc = True
# first check to see if a rider has already been added
if self.hasRider == True:
print(("D'oh! This bicycle already has {0} as a " +
"rider!").format(self.riderName))
else:
print("There is no rider on the bicycle, now adding " +
"{0}.".format(riderName))
pathToData = os.path.split(os.path.split(self.directory)[0])[0]
# get the path to the rider's folder
pathToRider = os.path.join(pathToData, 'riders', riderName)
# load in the parameters
bicyclePar = self.parameters['Benchmark']
bicycleName = self.bicycleName
if reCalc == True:
print("Calculating the human configuration.")
# run the calculations
try:
measuredPar = self.parameters['Measured']
except KeyError:
print('The measured bicycle parameters need to be ' +
'available, create your bicycle such that they ' +
'are available.')
raise
riderPar, human, bicycleRiderPar =\
rider.configure_rider(pathToRider, bicycleName, bicyclePar,
measuredPar, draw)
else:
pathToParFile = os.path.join(
pathToRider, 'Parameters',
riderName + self.bicycleName + 'Benchmark.txt')
try:
# load the parameter file
riderPar = io.load_parameter_text_file(pathToParFile)
except IOError:
# file doesn't exist so run the calculations
print("No parameter files found, calculating the human " +
"configuration.")
try:
measuredPar = self.parameters['Measured']
except KeyError:
print(
'The measured bicycle parameters need to be ' +
'available, create your bicycle such that they ' +
'are available.')
raise
riderPar, human, bicycleRiderPar =\
rider.configure_rider(pathToRider, bicycleName,
bicyclePar, measuredPar, draw)
else:
print("Loaded the precalculated parameters from " +
"{0}".format(pathToParFile))
bicycleRiderPar = inertia.combine_bike_rider(
bicyclePar, riderPar)
# set the attributes
self.riderPar['Benchmark'] = riderPar
try:
self.human = human
except NameError:
self.human = None
self.parameters['Benchmark'] = bicycleRiderPar
self.riderName = riderName
self.hasRider = True
def configure_rider(pathToRider, bicycle, bicyclePar, measuredPar, draw):
"""
Returns the rider parameters, bicycle paramaters with a rider and a
human object that is configured to sit on the bicycle.
Parameters
----------
pathToRider : string
Path to the rider's data folder.
bicycle : string
The short name of the bicycle.
bicyclePar : dictionary
Contains the benchmark bicycle parameters for a bicycle.
measuredPar : dictionary
Contains the measured values of the bicycle.
draw : boolean, optional
If true, visual python will be used to draw a three dimensional
image of the rider.
Returns
-------
riderpar : dictionary
The inertial parameters of the rider with reference to the
benchmark coordinate system.
human : yeadon.human
The human object that represents the rider seated on the
bicycle.
bicycleRiderPar : dictionary
The benchmark parameters of the bicycle with the rider added to
the rear frame.
"""
try:
# get the rider name
rider = os.path.split(pathToRider)[1]
# get the paths to the yeadon data files
pathToYeadon = os.path.join(pathToRider, 'RawData',
rider + 'YeadonMeas.txt')
pathToCFG = os.path.join(pathToRider, 'RawData',
rider + bicycle + 'YeadonCFG.txt')
# generate the human that has been configured to sit on the bicycle
# the human's inertial parameters are expressed in the Yeadon
# reference frame about the Yeadon origin.
human = rider_on_bike(bicyclePar, measuredPar, pathToYeadon, pathToCFG,
draw)
# This is the rotation matrix that relates Yeadon's reference frame
# to the bicycle reference frame.
rot_mat = np.array([[0.0, -1.0, 0.0], [-1.0, 0.0, 0.0],
[0.0, 0.0, -1.0]])
# This is the human's inertia expressed in the bicycle reference
# frame about the human's center of mass.
human_inertia_in_bike_frame = \
human.inertia_transformed(rotmat=rot_mat)
human_com_in_bike_frame = \
yeadon_vec_to_bicycle_vec(human.center_of_mass, measuredPar,
bicyclePar)
# build a dictionary to store the inertial data
riderPar = {
'IBxx': human_inertia_in_bike_frame[0, 0],
'IByy': human_inertia_in_bike_frame[1, 1],
'IBzz': human_inertia_in_bike_frame[2, 2],
'IBxz': human_inertia_in_bike_frame[2, 0],
'mB': human.mass,
'xB': human_com_in_bike_frame[0, 0],
'yB': human_com_in_bike_frame[1, 0],
'zB': human_com_in_bike_frame[2, 0]
}
except: # except if this fails
# no rider was added
print('Calculations in yeadon failed. No rider added.')
# raise the error that caused things to fail
raise
else:
bicycleRiderPar = combine_bike_rider(bicyclePar, riderPar)
return riderPar, human, bicycleRiderPar
def configure_rider(pathToRider, bicycle, bicyclePar, measuredPar, draw):
"""
Returns the rider parameters, bicycle paramaters with a rider and a
human object that is configured to sit on the bicycle.
Parameters
----------
pathToRider : string
Path to the rider's data folder.
bicycle : string
The short name of the bicycle.
bicyclePar : dictionary
Contains the benchmark bicycle parameters for a bicycle.
measuredPar : dictionary
Contains the measured values of the bicycle.
draw : boolean, optional
If true, visual python will be used to draw a three dimensional
image of the rider.
Returns
-------
riderpar : dictionary
The inertial parameters of the rider with reference to the
benchmark coordinate system.
human : yeadon.human
The human object that represents the rider seated on the
bicycle.
bicycleRiderPar : dictionary
The benchmark parameters of the bicycle with the rider added to
the rear frame.
"""
try:
# get the rider name
rider = os.path.split(pathToRider)[1]
# get the paths to the yeadon data files
pathToYeadon = os.path.join(pathToRider, 'RawData',
rider + 'YeadonMeas.txt')
pathToCFG = os.path.join(pathToRider, 'RawData',
rider + bicycle + 'YeadonCFG.txt')
# generate the human that has been configured to sit on the bicycle
# the human's inertial parameters are expressed in the Yeadon
# reference frame about the Yeadon origin.
human = rider_on_bike(bicyclePar, measuredPar,
pathToYeadon, pathToCFG, draw)
# This is the rotation matrix that relates Yeadon's reference frame
# to the bicycle reference frame.
rot_mat = np.array([[0.0, -1.0, 0.0],
[-1.0, 0.0, 0.0],
[0.0, 0.0, -1.0]])
# This is the human's inertia expressed in the bicycle reference
# frame about the human's center of mass.
human_inertia_in_bike_frame = \
human.inertia_transformed(rotmat=rot_mat)
human_com_in_bike_frame = \
yeadon_vec_to_bicycle_vec(human.center_of_mass, measuredPar,
bicyclePar)
# build a dictionary to store the inertial data
riderPar = {'IBxx': human_inertia_in_bike_frame[0, 0],
'IByy': human_inertia_in_bike_frame[1, 1],
'IBzz': human_inertia_in_bike_frame[2, 2],
'IBxz': human_inertia_in_bike_frame[2, 0],
'mB': human.mass,
'xB': human_com_in_bike_frame[0, 0],
'yB': human_com_in_bike_frame[1, 0],
'zB': human_com_in_bike_frame[2, 0]}
except: # except if this fails
# no rider was added
print('Calculations in yeadon failed. No rider added.')
# raise the error that caused things to fail
raise
else:
bicycleRiderPar = combine_bike_rider(bicyclePar, riderPar)
return riderPar, human, bicycleRiderPar
def add_rider(self, riderName, reCalc=False, draw=False):
"""
Adds the inertial effects of a rigid rider to the bicycle.
Parameters
----------
riderName : string
A rider name that corresponds to a folder in
`<pathToData>/riders/`.
reCalc : boolean, optional
If true, the rider parameters will be recalculated.
draw : boolean, optional
If true, visual python will be used to draw a three dimensional
image of the rider.
"""
# can't draw the rider model without the human object
if draw:
reCalc=True
# first check to see if a rider has already been added
if self.hasRider == True:
print(("D'oh! This bicycle already has {0} as a " +
"rider!").format(self.riderName))
else:
print("There is no rider on the bicycle, now adding " +
"{0}.".format(riderName))
pathToData = os.path.split(os.path.split(self.directory)[0])[0]
# get the path to the rider's folder
pathToRider = os.path.join(pathToData, 'riders', riderName)
# load in the parameters
bicyclePar = self.parameters['Benchmark']
bicycleName = self.bicycleName
if reCalc == True:
print("Calculating the human configuration.")
# run the calculations
try:
measuredPar = self.parameters['Measured']
except KeyError:
print('The measured bicycle parameters need to be ' +
'available, create your bicycle such that they ' +
'are available.')
raise
riderPar, human, bicycleRiderPar =\
rider.configure_rider(pathToRider, bicycleName, bicyclePar,
measuredPar, draw)
else:
pathToParFile = os.path.join(pathToRider, 'Parameters',
riderName + self.bicycleName + 'Benchmark.txt')
try:
# load the parameter file
riderPar = io.load_parameter_text_file(pathToParFile)
except IOError:
# file doesn't exist so run the calculations
print("No parameter files found, calculating the human " +
"configuration.")
try:
measuredPar = self.parameters['Measured']
except KeyError:
print('The measured bicycle parameters need to be ' +
'available, create your bicycle such that they ' +
'are available.')
raise
riderPar, human, bicycleRiderPar =\
rider.configure_rider(pathToRider, bicycleName,
bicyclePar, measuredPar, draw)
else:
print("Loaded the precalculated parameters from " +
"{0}".format(pathToParFile))
bicycleRiderPar = inertia.combine_bike_rider(bicyclePar, riderPar)
# set the attributes
self.riderPar['Benchmark'] = riderPar
try:
self.human = human
except NameError:
self.human = None
self.parameters['Benchmark'] = bicycleRiderPar
self.riderName = riderName
self.hasRider = True
