def getComVelocity(self, pointFrequency, method="spline"):
"""
Get global linear velocity of the centre of mass
:Parameters:
- `pointFrequency` (double) - point frequency
- `method` (str) - derivation method (spline, spline fitting)
:Return:
- `values` (numpy.array(n,3)) - values of the com velocity
.. note :: if method doesnt recognize, numerical first order derivation is used
"""
if method == "spline":
values = derivation.splineDerivation(self.getComTrajectory(),
pointFrequency,
order=1)
elif method == "spline fitting":
values = derivation.splineFittingDerivation(
self.getComTrajectory(), pointFrequency, order=1)
else:
values = derivation.firstOrderFiniteDifference(
self.getComTrajectory(), pointFrequency)
return values
def getComAcceleration(self,pointFrequency,method = "spline", **options):
"""
Get global linear acceleration of the centre of mass
:Parameters:
- `pointFrequency` (double) - point frequency
- `method` (str) - derivation method (spline, spline fitting)
- `**options` (kwargs) - options pass to method.
:Return:
- `values` (numpy.array(n,3)) - values of the com acceleration
.. attention :: com trajectory can be smoothed by calling fc and order, the cut-off frequency and the order of the low-pass filter respectively
.. note ::
if method doesnt recognize, numerical second order derivation is used
"""
valueCom = self.getComTrajectory()
if "fc" in options.keys() and "order" in options.keys():
valueCom = signal_processing.arrayLowPassFiltering(valueCom,pointFrequency,options["order"],options["fc"] )
if method == "spline":
values = derivation.splineDerivation(valueCom,pointFrequency,order=2)
elif method == "spline fitting":
values = derivation.splineFittingDerivation(self.getComTrajectory(),pointFrequency,order=2)
else:
values = derivation.secondOrderFiniteDifference(valueCom,pointFrequency)
return values