def _make_force_plates(self):
"""
Seperates then force plate data
:return: Force plate data
:rtype: Dict
"""
joints = {}
plates = self.vicon.get_all_force_plate()
for key, item in plates.items():
joints[key] = []
for inc in self.vicon_set_points:
start = item.get_offset_index(inc[0])
end = item.get_offset_index(inc[1])
Fx = np.array(item.force.x)[start:end]
Fy = np.array(item.force.y)[start:end]
Fz = np.array(item.force.z)[start:end]
Mx = np.array(item.moment.x)[start:end]
My = np.array(item.moment.y)[start:end]
Mz = np.array(item.moment.z)[start:end]
cx = np.array(item.CoP.x)[start:end]
cy = np.array(item.CoP.y)[start:end]
cz = np.array(item.CoP.z)[start:end]
f = PointArray.PointArray(Fx, Fy, Fz)
m = PointArray.PointArray(Mx, My, Mz)
c = PointArray.PointArray(cx, cy, cz)
data = Newton.Newton(c, f, m, None)
# time = (len(Fx) / float(self.vicon.length)) * self.dt
stamp = Data.Data(data, np.linspace(0, 1.0, len(Fx)))
joints[key].append(stamp)
return joints
def __init__(self, name, sensor):
self._accel = PointArray.PointArray(sensor["ACCX"]["data"],
sensor["ACCY"]["data"],
sensor["ACCZ"]["data"])
self._gyro = PointArray.PointArray(sensor["GYROX"]["data"],
sensor["GYROY"]["data"],
sensor["GYROZ"]["data"])
super(IMU, self).__init__(name, sensor, "IMU")
def __init__(self, name, forces, moments, CoP):
self.force = PointArray.PointArray(forces["Fx"]["data"],
forces["Fy"]["data"],
forces["Fz"]["data"])
self.moment = PointArray.PointArray(moments["Mx"]["data"],
moments["My"]["data"],
moments["Mz"]["data"])
self.CoP = PointArray.PointArray(CoP["Cx"]["data"], CoP["Cy"]["data"],
CoP["Cz"]["data"])
sensor = Newton.Newton(self.CoP, self.force, self.moment, None)
super(ForcePlate, self).__init__(name, sensor, "IMU")
def _make_joint_trajectories(self):
"""
Seperates then joint trajs data
:return: joint trajectory data
:rtype: Dict
"""
joints = {}
count = 0
model = self.vicon.get_model_output()
for fnc, side in zip((model.get_left_leg(), model.get_right_leg()),
("L", "R")):
for joint_name in ["_hip", "_knee", "_ankle"]:
name = side + joint_name[1:]
joints[name] = []
for inc in self.vicon_set_points:
time = np.linspace(0, 1, (inc[1] - inc[0]))
current_joint = fnc.__dict__[joint_name]
angleX = Data.Data(
np.array(current_joint.angle.x[inc[0]:inc[1]]), time)
angleY = Data.Data(
np.array(current_joint.angle.y[inc[0]:inc[1]]), time)
angleZ = Data.Data(
np.array(current_joint.angle.z[inc[0]:inc[1]]), time)
angle = PointArray.PointArray(x=angleX, y=angleY, z=angleZ)
powerX = Data.Data(
np.array(current_joint.power.x[inc[0]:inc[1]]), time)
powerY = Data.Data(
np.array(current_joint.power.y[inc[0]:inc[1]]), time)
powerZ = Data.Data(
np.array(current_joint.power.z[inc[0]:inc[1]]), time)
power = PointArray.PointArray(x=powerX, y=powerY, z=powerZ)
torqueX = Data.Data(
np.array(current_joint.moment.x[inc[0]:inc[1]]), time)
torqueY = Data.Data(
np.array(current_joint.moment.y[inc[0]:inc[1]]), time)
torqueZ = Data.Data(
np.array(current_joint.moment.z[inc[0]:inc[1]]), time)
torque = PointArray.PointArray(x=torqueX,
y=torqueY,
z=torqueZ)
forceX = Data.Data(
np.array(current_joint.force.x[inc[0]:inc[1]]), time)
forceY = Data.Data(
np.array(current_joint.force.y[inc[0]:inc[1]]), time)
forceZ = Data.Data(
np.array(current_joint.force.z[inc[0]:inc[1]]), time)
force = PointArray.PointArray(forceX, forceY, forceZ)
stamp = Joint.Joint(angle, force, torque, power)
if self._use_black_list:
if count in self._black_list:
continue
joints[name].append(stamp)
count += 1
left_leg = Leg.Leg(joints["Rhip"], joints["Rknee"], joints["Rankle"])
right_leg = Leg.Leg(joints["Lhip"], joints["Lknee"], joints["Lankle"])
body = Side.Side(left_leg, right_leg)
return body
def __init__(self, name, sensor):
gyro = PointArray.PointArray(sensor["GYROX"]["data"],
sensor["GYROY"]["data"],
sensor["GYROZ"]["data"])
super(Gyro, self).__init__(name, gyro, "Gyro")
def __init__(self, name, sensor):
emg = PointArray.PointArray(sensor["data"], sensor["data"],
sensor["data"])
super(EMG, self).__init__(name, emg, "EMG")
def __init__(self, name, sensor):
accel = PointArray.PointArray(sensor["ACCX"]["data"],
sensor["ACCY"]["data"],
sensor["ACCZ"]["data"])
super(Accel, self).__init__(name, accel, "Accel")