def Stockaufsatz(matrixnew,extractedstep,Einheitsvektor ="rE1"):
re1 = Init.getData(matrixnew,sensors=["RNS","LNS"],datas=[ Einheitsvektor])
ACC = Init.getData(matrixnew,sensors=["RNS","LNS"],datas=["acc"],specifiedDatas="x")
ACCright = Ableitung(ACC[:,:],[2],1)[:,2:]
ACCleft = Ableitung(ACC[:,:],[3],1)[:,2:]
Vektor = np.zeros((len(re1),3))
Vektor[:,2] = 1
anlematrixre1 = angle(re1[:,2:5],Vektor)
anlematrixre = angle(re1[:,5:8],Vektor)
anglestickright = anlematrixre1[:,0]
anglestickleft = anlematrixre[:,0]
rightpeak = []
leftpeak = []
for i in range(0,len(extractedstep)):
posleft = (np.argmax(ACCleft[(extractedstep[i,0]):(extractedstep[i,1]),0]))
leftpeak.append(anglestickleft[(extractedstep[i,0])+posleft,0])
posright = (np.argmax(ACCright[(extractedstep[i,0]):(extractedstep[i,1]),0]))
rightpeak.append(anglestickright[(extractedstep[i,0])+posright,0])
print rightpeak
return rightpeak,leftpeak
def Passgang(matrixnew,extractedstep):
ACC = Init.getData(matrixnew,sensors=["RNS","LLL"],datas=["acc"],specifiedDatas="x")
ACC2 = Init.getData(matrixnew,sensors=["LNS","RLL"],datas=["acc"],specifiedDatas="x")
ACC = Ableitung(ACC[:,:],[2,3],1)[:,2:]
ACC2 = Ableitung(ACC2[:,:],[2,3],1)[:,2:]
zeitverschiebung =[]
zeitverschiebunglinks =[]
for i in range(0,len(extractedstep)):
maxpos = (np.argmax(ACC2[(extractedstep[i,0]):(extractedstep[i,1]),0]))
minpos= (np.argmax(ACC2[(extractedstep[i,0]):(extractedstep[i,1]),1]))
print abs(maxpos-minpos)
print "_______"
print (extractedstep[i,1]-extractedstep[i,0])
zeitverschiebung.append(float(abs(maxpos-minpos))/float((extractedstep[i,1]-extractedstep[i,0])))
maxpos = (np.argmax(ACC[(extractedstep[i,0]):(extractedstep[i,1]),0]))
minpos= (np.argmax(ACC[(extractedstep[i,0]):(extractedstep[i,1]),1]))
zeitverschiebunglinks.append(float(abs(maxpos-minpos))/float((extractedstep[i,1]-extractedstep[i,0])))
vereinigung=[]
for j in range(0,len(zeitverschiebunglinks)):
if(zeitverschiebung[j]>=zeitverschiebunglinks[j]):
vereinigung.append(zeitverschiebunglinks[j])
else: vereinigung.append(zeitverschiebung[j])
plt.plot(vereinigung)
plt.show()
return vereinigung
def Fussabrollen(matrixnew,extractedstep):
ACC = Init.getData(matrixnew,sensors=["RLL","LLL"],datas=["acc"],specifiedDatas="x")
ACCright = Ableitung(ACC[:,:],[2],1)[:,2:]
ACCleft = Ableitung(ACC[:,:],[3],1)[:,2:]
anlematrixre1 = winkelgesamt(matrixnew,Sensoren=["RUA","RLA"])
anlematrixre = winkelgesamt(matrixnew,Sensoren=["LUA","LLA"])
anglestickright = anlematrixre1
anglestickleft = anlematrixre
plt.plot(anglestickleft)
plt.plot(anglestickright)
plt.show()
rightpeak = []
leftpeak = []
for i in range(0,len(extractedstep)):
posleft = (np.argmax(ACCleft[(extractedstep[i,0]):(extractedstep[i,1]),0]))
leftpeak.append(anglestickleft[(extractedstep[i,0])+posleft])
posright = (np.argmax(ACCright[(extractedstep[i,0]):(extractedstep[i,1]),0]))
rightpeak.append(anglestickright[(extractedstep[i,0])+posright])
print rightpeak
return rightpeak,leftpeak
def aufrechtgehen(matrixnew, extractedstep):
back = Init.getData(matrixnew,sensors=["STE","CEN"],datas=[ "rE1"])
Vektor = np.zeros((len(back),3))
Vektor[:,0] = 1
angleSTEmovement = angle(back[:,2:5],Vektor)
angleCENmovement = angle(back[:,5:8],Vektor)
Vektor[:,0] = 0
Vektor[:,2] = 1
angleSTEupwards = angle(back[:,2:5],Vektor)
angleCENupwards = angle(back[:,5:8],Vektor)
angleSTEupwardsstep = []
angleSTEmovementstep =[]
angleSTEmovementstep = []
angleCENupwardsstep = []
for i in range(0,len(extractedstep)):
angleCENupwardsstep.append(np.sum(angleCENupwards[(extractedstep[i,0]):(extractedstep[i,1])])/((extractedstep[i,1])-(extractedstep[i,0])))
angleSTEupwardsstep.append(np.sum(angleSTEupwards[(extractedstep[i,0]):(extractedstep[i,1])])/((extractedstep[i,1])-(extractedstep[i,0])))
plt.subplot(2,1,1)
plt.plot(angleSTEupwardsstep)
plt.subplot(2,1,2)
plt.plot(angleCENupwardsstep)
plt.show()
difference = (np.absolute([x-y for x,y in zip(angleCENupwardsstep,angleSTEupwardsstep)]))
return angleSTEupwardsstep,angleCENupwardsstep, difference
def sensorwinkel(matrixnew, extractedstep, Sensoren= ["RUA","RLA"]):
re1 = Init.getData(matrixnew,sensors=Sensoren,datas=[ "rE1","rE2","rE3"])
anlematrixre1 = angle(re1[:,11:14],re1[:,2:5])
anglearm = anlematrixre1[:,0]
anlematrixre1 = angle(re1[:,14:17],re1[:,5:8])
anglearm2 = anlematrixre1[:,0]
anlematrixre1 = angle(re1[:,17:20],re1[:,8:11])
anglearm3 = anlematrixre1[:,0]
anglecomb= [ ]
for i in range(0,len(anglearm)):
anglecomb.append(np.sqrt((np.square(anglearm2[i,0]))+(np.square(anglearm[i,0]))+(np.square(anglearm3[i,0]))))
print anglecomb
maxanglearm = []
minanglearm = []
for i in range(0,len(extractedstep)):
maxpos = (np.argmax(anglecomb[(extractedstep[i,0]):(extractedstep[i,1])]))
maxanglearm.append((anglecomb[(extractedstep[i,0])+maxpos]))
minpos= (np.argmin(anglecomb[(extractedstep[i,0]):(extractedstep[i,1])]))
minanglearm.append(anglecomb[(extractedstep[i,0])+minpos])
angleE = np.c_[minanglearm,maxanglearm]
print "---------------------------------------------------------------------"
angleE= 180-angleE
return angleE
def findsync(dataMatrix):
datamatrix = Init.getData(dataMatrix,sensors=["STE"],datas=[ "acc"])
signal= dataMatrix[:,2]
maxAbsValue, maxAbsFreq = FourierTransformation.maxAbsFreq(signal)
Filtered = FeatureKonstruktion.filter(datamatrix,[2,3,4],maxAbsFreq)
plt.plot(Filtered[:,2:])
plt.show()
def winkelgesamt(matrixnew,Sensoren= ["RUA","RLA"]):
re1 = Init.getData(matrixnew,sensors=Sensoren,datas=[ "rE1","rE2","rE3"])
print len(matrixnew)
anlematrixre1 = angle(re1[:,11:14],re1[:,2:5])
anglearm = anlematrixre1[:,0]
anlematrixre1 = angle(re1[:,14:17],re1[:,5:8])
anglearm2 = anlematrixre1[:,0]
anlematrixre1 = angle(re1[:,17:20],re1[:,8:11])
anglearm3 = anlematrixre1[:,0]
anglecomb= [ ]
plt.plot(anglearm)
plt.plot(anglearm2)
plt.plot(anglearm3)
plt.show()
for i in range(0,len(anglearm)):
anglecomb.append(np.sqrt((np.square(anglearm2[i,0]))+(np.square(anglearm[i,0]))+(np.square(anglearm3[i,0]))))
print len(anglecomb)
return anglecomb