def getAvgPoints(pts, pointNames, indexRange):
points = np.zeros((len(pointNames), 3))
for i in indexRange:
points += _getPoints(pts, pointNames, i)
points = points/float(len(indexRange))
pointDict = {}
for i in range(len(pointNames)):
pointDict[pointNames[i]] = points[i]
return pointDict
def main():
markerNames = ['LASIS', 'RASIS', 'LPSIS', 'RPSIS', 'SACR']
# markerNames = ['LGTRO', 'FLTHI', 'LTHI', 'LLEK']
pelvisPoints = parsePointFile('Subject005Trial08.txt', markerNames)
mass = 35.8 # Trunk weight in kg
totalHeight = 1.7 # meters
height = 0.289*totalHeight # meters
width = 0.2295*totalHeight # meters
thickness = 0.15 # meters
inertiaMatrix = getInertiaMatrix(mass, width, height, thickness)
timeIndicies = range(400, 1200)
rotationMatrix = np.zeros((4,4,len(timeIndicies)))
points0 = _getPoints(pelvisPoints, markerNames, 0)
for i in range(len(timeIndicies)):
timeIndex = timeIndicies[i]
points1 = _getPoints(pelvisPoints, markerNames, timeIndex)
rotationMatrix[:,:,i] = soderSvd(points0, points1)
rotationMatrix = filterData(rotationMatrix)
rotationMatrix = rotationMatrix[:,:,200:801]
angularVelocities = np.zeros((rotationMatrix.shape[2], 3))
for i in range(1, rotationMatrix.shape[2]-1):
angularVelocities[i] = getAngularVelocity(rotationMatrix[:,:,i-1],
rotationMatrix[:,:,i],
rotationMatrix[:,:,i+1])
angularAccelerations = getAngularAcceleration(angularVelocities)
moments = np.zeros_like(angularAccelerations)
term1 = np.zeros_like(angularAccelerations)
term2 = np.zeros_like(angularAccelerations)
for i in range(len(angularAccelerations)):
moments[i], term1[i], term2[i] = getMoments(inertiaMatrix, angularVelocities[i], angularAccelerations[i])
return angularVelocities, angularAccelerations, moments, term1, term2
