def calc_rel_properties(self):
"""Calculates mass, relative center of mass, and relative/local
inertia, according to formulae in Appendix B of Yeadon 1990-ii. If the
stadium solid is arranged anteroposteriorly, the inertia is rotated
by pi/2 about the z axis.
"""
# There are two cases of stadium solid degeneracy to consider:
# t0 = 0, and t0 = t1 = 0. The degeneracy arises when b has a
# denominator of 0. The case that t1 = 0 is not an issue, then.
# The way the case of t0 = 0 is handled is by switching the two stadia.
# Note that thi affects how the relative center of mass is set, but
# does not affect the mass or moments of inertia calculations.
# The case in which t0 = t1 = 0, we set b to 1. That is because t = t0
# (1 + bz) is going to be zero anyway, since t0 = 0.
D = self.density
h = self.height
if self.degenerate_by_t0:
# Swap the stadia.
r0 = self.stads[1].radius
t0 = self.stads[1].thickness
r1 = self.stads[0].radius
t1 = self.stads[0].thickness
else:
r0 = self.stads[0].radius
t0 = self.stads[0].thickness
r1 = self.stads[1].radius
t1 = self.stads[1].thickness
a = (r1 - r0) / r0
if t0 == 0:
# Truncated cone, since both thicknesses are zero.
# b can be anything, because t = t0(1 + bz) = (0)(1 + bz) = 0.
b = 1
else:
b = (t1 - t0) / t0
self._mass = D * h * r0 * (4.0 * t0 * self._F1(a,b) +
np.pi * r0 * self._F1(a,a))
zcom = D * (h**2.0) * (4.0 * r0 * t0 * self._F2(a,b) +
np.pi * (r0**2.0) * self._F2(a,a)) / self.mass
if self.degenerate_by_t0 and t0 != 0:
# We swapped the stadia, and it's not a truncated cone.
# Must define this intermediate because zcom above is still what
# must be used for the parallel axis theorem below.
adjusted_zcom = h - zcom
else:
adjusted_zcom = zcom
self._rel_center_of_mass = np.array([[0.0],[0.0],[adjusted_zcom]])
# moments of inertia
Izcom = D * h * (4.0 * r0 * (t0**3.0) * self._F4(a,b) / 3.0 +
np.pi * (r0**2.0) * (t0**2.0) * self._F5(a,b) +
4.0 * (r0**3.0) * t0 * self._F4(b,a) +
np.pi * (r0**4.0) * self._F4(a,a) * 0.5 )
# CAUGHT AN (minor) ERROR IN YEADON'S PAPER HERE. The Dh^3 in the
# formula below is missing from the second formula for Iy^0 on page 73
# of Yeadon1990-ii.
Iy = (D * h * (4.0 * r0 * (t0**3.0) * self._F4(a,b) / 3.0 +
np.pi * (r0**2.0) * (t0**2.0) * self._F5(a,b) +
8.0 * (r0**3.0) * t0*self._F4(b,a) / 3.0 +
np.pi * (r0**4.0) * self._F4(a,a) * 0.25) +
D * (h**3.0) * (4.0 * r0 * t0 * self._F3(a,b) +
np.pi * (r0**2.0) * self._F3(a,a)))
Iycom = Iy - self.mass * (zcom**2.0)
Ix = (D * h * (4.0 * r0 * (t0**3.0) * self._F4(a,b) / 3.0 +
np.pi * (r0**4.0) * self._F4(a,a) * 0.25) +
D * (h**3.0) * (4.0 * r0 * t0 * self._F3(a,b) +
np.pi * (r0**2.0) * self._F3(a,a)))
Ixcom = Ix - self.mass*(zcom**2.0)
self._rel_inertia = np.mat([[Ixcom,0.0,0.0],
[0.0,Iycom,0.0],
[0.0,0.0,Izcom]])
if self.alignment == 'AP':
# rearrange to anterorposterior orientation
self._rel_inertia = inertia.rotate_inertia(
inertia.rotate_space_123([0, 0, np.pi/2]), self.rel_inertia)
def start_ui():
print "Starting YEADON user interface."
measPreload = { 'Ls5L' : 0.545, 'Lb2p' : 0.278, 'La5p' : 0.24, 'Ls4L' :
0.493, 'La5w' : 0.0975, 'Ls4w' : 0.343, 'La5L' : 0.049, 'Lb2L' : 0.2995,
'Ls4d' : 0.215, 'Lj2p' : 0.581, 'Lb5p' : 0.24, 'Lb5w' : 0.0975, 'Lk8p' :
0.245, 'Lk8w' : 0.1015, 'Lj5L' : 0.878, 'La6w' : 0.0975, 'Lk1L' : 0.062,
'La6p' : 0.2025, 'Lk1p' : 0.617, 'La6L' : 0.0805, 'Ls5p' : 0.375, 'Lj5p' :
0.2475, 'Lk8L' : 0.1535, 'Lb5L' : 0.049, 'La3p' : 0.283, 'Lj9w' : 0.0965,
'La4w' : 0.055, 'Ls6L' : 0.152, 'Lb0p' : 0.337, 'Lj8w' : 0.1015, 'Lk2p' :
0.581, 'Ls6p' : 0.53, 'Lj9L' : 0.218, 'La3L' : 0.35, 'Lj8p' : 0.245, 'Lj3L'
: 0.449, 'La4p' : 0.1685, 'Lk3L' : 0.449, 'Lb3p' : 0.283, 'Ls7L' : 0.208,
'Ls7p' : 0.6, 'Lb3L' : 0.35, 'Lk3p' : 0.3915, 'La4L' : 0.564, 'Lj8L' :
0.1535, 'Lj3p' : 0.3915, 'Lk4L' : 0.559, 'La1p' : 0.2915, 'Lb6p' : 0.2025,
'Lj6L' : 0.05, 'Lb6w' : 0.0975, 'Lj6p' : 0.345, 'Lb6L' : 0.0805, 'Ls0p' :
0.97, 'Ls0w' : 0.347, 'Lj6d' : 0.122, 'Ls8L' : 0.308, 'Lk5L' : 0.878,
'La2p' : 0.278, 'Lj9p' : 0.215, 'Ls1L' : 0.176, 'Lj1L' : 0.062, 'Lb1p' :
0.2915, 'Lj1p' : 0.617, 'Ls1p' : 0.865, 'Ls1w' : 0.317, 'Lk4p' : 0.34,
'Lk5p' : 0.2475, 'La2L' : 0.2995, 'Lb4w' : 0.055, 'Lb4p' : 0.1685, 'Lk9p' :
0.215, 'Lk9w' : 0.0965, 'Ls2p' : 0.845, 'Lj4L' : 0.559, 'Ls2w' : 0.285,
'Lk6L' : 0.05, 'La7w' : 0.047, 'La7p' : 0.1205, 'La7L' : 0.1545, 'Lk6p' :
0.345, 'Ls2L' : 0.277, 'Lj4p' : 0.34, 'Lk6d' : 0.122, 'Lk9L' : 0.218,
'Lb4L' : 0.564, 'La0p' : 0.337, 'Ls3w' : 0.296, 'Ls3p' : 0.905, 'Lb7p' :
0.1205, 'Lb7w' : 0.047, 'Lj7p' : 0.252, 'Lb7L' : 0.1545, 'Ls3L' : 0.388,
'Lk7p' : 0.252 }
# initialize the joint angle data
# user supplies names/paths of input text files
print "PROVIDE DATA INPUTS: measurements and configuration (joint angles)."
print "\nMEASUREMENTS: can be provided as a 95-field dict (units must be " \
"meters), or a .TXT file"
temp = raw_input("Type the name of the .TXT filename (to use preloaded "
"measurements just hit enter): ")
if temp == '':
meas = measPreload
else:
file_exist_meas = os.path.exists(temp)
meas = temp
while not file_exist_meas:
temp = raw_input("Please type the correct name of the .TXT filename "
"(or just use preloaded measurements just hit enter): ")
file_exist_meas = os.path.exists(temp)
if temp == '':
meas = measPreload
break
elif file_exist_meas:
meas = temp
print "\nCONFIGURATION (joint angles): can be provided as a 21-field dict,"\
" or a .TXT file"
CFG = raw_input("Type the name of the .TXT filename (for all joint angles "
"as zero, just hit enter): ")
# create the human object. only one is needed for this commandline program
print "Creating human object."
if CFG == '':
H = hum.Human(meas)
else:
file_exist_CFG = os.path.exists(CFG)
while not file_exist_CFG:
CFG = raw_input("Please type the correct name of the .TXT filename "
"(for all joint angles as zero, just hit enter): ")
file_exist_CFG = os.path.exists(CFG)
if CFG == '':
H = hum.Human(meas)
break
elif file_exist_CFG:
H = hum.Human(meas, CFG)
done = 0 # loop end flag
while done != 1:
print "\nYEADON MAIN MENU"
print "----------------"
print " j: print/modify joint angles\n\n",\
" a: save current joint angles to file\n",\
" p: load joint angles from file\n",\
" s: format input measurements for ISEG Fortran code\n\n",\
" t: transform absolute/base/fixed coordinate system\n\n",\
" d: draw 3D human\n\n",\
" h: print human properties\n",\
" g: print segment properties\n",\
" l: print solid properties\n\n",\
" c: combine solids/segments for inertia parameters\n\n",\
" o: options\n",\
" q: quit"
userIn = raw_input("What would you like to do next? ")
print ""
# MODIFY JOINT ANGLES
if userIn == 'j':
# this function is defined above
H = modify_joint_angles(H)
# SAVE CURRENT JOINT ANGLES
elif userIn == 'a':
fname = raw_input("The joint angle dictionary CFG will be pickled" \
" into a file saved in the current directory." \
" Specify a file name (without quotes or spaces," \
" q to quit): ")
if fname != 'q':
H.write_CFG(fname)
print "The joint angles have been saved in",fname,".pickle."
# LOAD JOINT ANGLES
elif userIn == 'p':
print "Be careful with this, because there is no error checking"\
" yet. Make sure that the pickle file is in the same format"\
" as a pickle output file from this program."
fname = raw_input("Enter the name of a CFG .TXT file" \
" including its extension" \
" (q to quit):")
if fname != 'q':
H.read_CFG(fname)
print "The joint angles in",fname,".pickle have been loaded."
# FORMAT INPUT MEASUREMENTS FOR ISEG FORTRAN CODE
elif userIn == 's':
fname = raw_input("Enter the file name to which you would like" \
" to write the ISEG input: ")
if H.write_meas_for_ISEG(fname) == 0:
print "Success!"
else:
print "Uh oh, there was an error when trying to write",\
"the ISEG input."
# TRANSFORM COORDINATE SYSTEM
elif userIn == 't':
print "Transforming absolute/base/fixed coordinate system."
print "First we will rotate the yeadon coordinate system " \
"with respect to your new, desired coordinate system. " \
"We will first rotate about your x-axis, then your " \
"y-axis, then your z-axis."
thetx = raw_input("Angle (rad) about your x-axis: ")
thety = raw_input("Angle (rad) about your y-axis: ")
thetz = raw_input("Angle (rad) about your z-axis: ")
H.rotate_coord_sys(inertia.rotate_space_123(thetx,thety,thetz))
print "Now we'll specify the position of yeadon with respect to " \
"your coordinate system. You will provide the three " \
"components, x y and z, in YOUR coordinates."
posx = raw_input("X-position (m): ")
posy = raw_input("Y-position (m): ")
posz = raw_input("Z-position (m): ")
H.translate_coord_sys( (posx,posy,posz) )
print "All done!"
# DRAW HUMAN WITH MAYAVI
elif userIn == 'd':
H.draw()
# PRINT HUMAN PROPERTIES
elif userIn == 'h':
print "\nHuman properties."
H.print_properties()
# PRINT SEGMENT PROPERTIES
elif userIn == 'g':
print_segment_properties(H)
# PRINT SOLID PROPERTIES
elif userIn == 'l':
print_solid_properties(H)
# COMBINE INERTIA PARAMETERS
elif userIn == 'c':
print "Use the following variables/keywords to select which" \
" solids/segments to combine: "
print " s0 - s7, a0 - a6, b0 - b6, j0 - j8, k0 - k8"
print " P, T, C, A1, A2, B1, B2, J1, J2, K1, K2\n"
print "Enter in the keywords one at a time. When you are " \
"done, enter q."
combinedone = False
combinectr = 1
objlist = []
while combinedone == False:
objtemp = raw_input('Solid/segment #' + str(combinectr) + ': ')
if objtemp == 'q':
combinedone = True
else:
objlist.append(objtemp)
combinectr += 1
print "Okay, get ready for your results (mass, COM, Inertia)!"
combineMass,combineCOM,combineInertia = H.combine_inertia(objlist)
print "These values are with respect to your fixed frame."
print "Mass (kg):", combineMass
print "COM (m):\n", combineCOM
print "Inertia (kg-m^2):\n", combineInertia
# OPTIONS
elif userIn == 'o':
optionsdone = 0
sym = ('off','on')
while optionsdone != 1:
print "\nOPTIONS"
print "-------"
print " 1: toggle symmetry (symmetry is",\
sym[ int(H.is_symmetric) ],"now)\n", \
" 2: scale human by mass\n", \
" q: back to main menu"
optionIn = raw_input("What would you like to do? ")
if optionIn == '1':
if H.is_symmetric == True:
H.is_symmetric = False
H.meas = meas
elif H.is_symmetric == False:
H.is_symmetric = True
H._average_limbs()
H.update()
print "Symmetry is now turned", sym[int(H.is_symmetric)], "."
elif optionIn == '2':
measmass = raw_input("Provide a measured mass with which "\
"to scale the human (kg): ")
H.scale_human_by_mass(float(measmass))
elif optionIn == 'q':
print "Going back to main menu."
optionsdone = 1
else:
print "Invalid input."
elif userIn == 'q':
print "Quitting YEADON"
done = 1
else:
print "Invalid input."
