def main():
markerNames = ['LASIS', 'RASIS', 'LPSIS', 'RPSIS', 'SACR', 'RGTRO']
pelvisPoints = parsePointFile('Subject005Trial08.txt', markerNames)
avgPoints = getAvgPoints(pelvisPoints, markerNames, range(100))
pelvis = pelvicCoordinateSystem()
pelvis.setCoordinateSystem(avgPoints['RASIS'], avgPoints['LASIS'], avgPoints['RPSIS'], avgPoints['LPSIS'])
pelvis.setOrigin(avgPoints['RASIS'], avgPoints['LASIS'], avgPoints['RGTRO'], side='right')
print pelvis.getOrientation()*180/np.pi, pelvis.origin
print avgPoints['LASIS']
# for name in markerNames:
# point = pelvis.getLocalCoordiante(avgPoints[name])
# print '{} & {} & {} & {} \\'.format(name, np.round(point[0],3)*100, np.round(point[1],3)*100, np.round(point[2],3)*100)
# print '\hline\n{} & {} & {} & {} \\'.format(name, np.round(point[0],3)*100, np.round(point[1],3)*100, np.round(point[2],3)*100)
return
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
