def get_pots(self):
"""
Seperates Pot data
:return: Pot data
:rtype: Dict
"""
left_leg = self.exoskeleton.left_leg
right_leg = self.exoskeleton.right_leg
left = []
right = []
count = 0
for inc in self.exo_set_points:
left_data = np.array(
[[left_leg.hip.pot.get_values()[inc[0]:inc[1]]],
[left_leg.knee.pot.get_values()[inc[0]:inc[1]]],
[left_leg.ankle.pot.get_values()[inc[0]:inc[1]]]])
right_data = np.array(
[[right_leg.hip.pot.get_values()[inc[0]:inc[1]]],
[right_leg.knee.pot.get_values()[inc[0]:inc[1]]],
[right_leg.ankle.pot.get_values()[inc[0]:inc[1]]]])
time = (len(left_data) / float(self.exoskeleton.length)) * self.dt
stamp_left = Data.Data()
stamp_right = Data.Data()
stamp_right.data = right_data
stamp_left.data = left_data
stamp_left.time = np.linspace(0, time, len(left_data))
stamp_right.time = np.linspace(0, time, len(right_data))
if self._use_black_list:
if count in self._black_list:
continue
else:
left.append(stamp_left)
right.append(stamp_right)
count += 1
side = Side.Side(left, right)
return side
def get_FSRs(self):
"""
Seperates FSR data
:return: FSR data
:rtype: Dict
"""
left_fsr = self.exoskeleton.left_leg.ankle.FSRs
right_fsr = self.exoskeleton.right_leg.ankle.FSRs
left = []
right = []
for inc in self.exo_set_points:
left_data = np.array([[left_fsr[0].get_values()[inc[0]:inc[1]]],
[left_fsr[1].get_values()[inc[0]:inc[1]]],
[left_fsr[2].get_values()[inc[0]:inc[1]]]])
right_data = np.array([[right_fsr[0].get_values()[inc[0]:inc[1]]],
[right_fsr[1].get_values()[inc[0]:inc[1]]],
[right_fsr[2].get_values()[inc[0]:inc[1]]]])
time = (len(left_data) / float(self.exoskeleton.length)) * self.dt
stamp_left = Data.Data(left_data,
np.linspace(0, time, len(left_data)))
stamp_right = Data.Data(right_data,
np.linspace(0, time, len(right_data)))
# if self._use_black_list:
# if count in self._black_list:
# continue
# else:
# left.append(stamp_left)
# right.append(stamp_right)
#
# count += 1
side = Side.Side(left, right)
return side
def get_CoPs(self):
"""
Seperates then CoP data
:return: CoP data
:rtype: Dict
"""
left = []
right = []
count = 0
left_cop = self.exoskeleton.left_leg.calc_CoP()
right_cop = self.exoskeleton.right_leg.calc_CoP()
left = []
right = []
for inc in self.exo_set_points:
left_data = left_cop[inc[0]:inc[1]]
right_data = right_cop[inc[0]:inc[1]]
time = (len(left_data) / float(self.exoskeleton.length)) * self.dt
stamp_left = Data.Data(left_data,
np.linspace(0, time, len(left_data)))
stamp_right = Data.Data(right_data,
np.linspace(0, time, len(right_data)))
if self._use_black_list:
if count in self._black_list:
continue
else:
left.append(stamp_left)
right.append(stamp_right)
count += 1
side = Side.Side(left, right)
return side
def get_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 = Point.Point(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 = Point.Point(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 = Point.Point(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 = Point.Point(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