def verify_lin_accel(t_start=0, t_end=1):
motion_model = MotionModel()
# Get real ankle angle data
ankle_data = load_data('./data/ankle_vs_gait.csv')
ankle_data = np.array(ankle_data)
ankle_data = get_regress_general(ankle_data)
x = np.arange(0,1,0.001)
position = [[],[]]
for ite in x:
coord = motion_model.get_global(ankle_data.eval(ite*100)[0]*np.pi/180,0,0,ite)
position[0].append(coord[0])
position[1].append(coord[1])
y = position[0]
y = np.array([x, y])
y_function = get_regress_ankle_height(np.transpose(y))
plt.plot(x, position[0])
plt.plot(x, y_function.eval(x))
plt.show()
ankle_vel_y_data = derivative(y_function, x, h=0.0001)
plt.plot(x, ankle_vel_y_data)
ankle_vel_y_data = np.transpose(np.array([x, ankle_vel_y_data]))
ankle_vel_y_fun = get_regress_ankle_height(ankle_vel_y_data)
plt.plot(x, ankle_vel_y_fun.eval(x))
plt.show()
plt.plot(x, derivative(ankle_vel_y_fun, x, h=0.0001))
plt.show()
def verify_rotation_matrices(t_start=0, t_end=1):
motion_model = MotionModel()
# Get real ankle angle data
ankle_data = load_data('./data/ankle_vs_gait.csv')
ankle_data = np.array(ankle_data)
ankle_data = get_regress_general(ankle_data)
# Get real ankle height data
ankle_height = load_data('./data/Foot-Centroid-Height_OG-vs-Gait.csv')
ankle_height = np.array(ankle_height)
ankle_height = np.transpose(ankle_height)
ankle_height[0] = ankle_height[0] / 5
ankle_height[1] = ankle_height[1] / 1000
# Get real ankle horizontal data
ankle_hor = load_data('./data/Foot-Centroid-Horizontal_OG-vs-Gait.csv')
ankle_hor = np.array(ankle_hor)
ankle_hor = np.transpose(ankle_hor)
ankle_hor[0] = ankle_hor[0] / 5
ankle_hor[1] = ankle_hor[1] / 1000
x = np.arange(t_start, t_end, .01)
position = [[], []]
for ite in x:
coord = motion_model.get_global(
ankle_data.eval(ite * 100)[0] * np.pi / 180, 0.06674, -0.03581,
ite) #gets global coordinate of ankle
position[0].append(coord[0])
position[1].append(coord[1])
# Plot ankle from literature
plt.figure()
plt.plot(x * 100, ankle_data.eval(x * 100) * np.pi / 180)
plt.xlabel("% Gait Cycle")
plt.ylabel("Ankle Angle Literature (rad)")
plt.show()
# Plot global horizontal of centroid
plt.figure()
plt.plot(ankle_hor[0][:-5] * 100, ankle_hor[1][:-5])
plt.plot(x * 100, position[0], '--')
plt.legend(('Raw Data', 'Computed Trajectory'))
plt.xlabel("% Gait Cycle")
plt.ylabel("Horizontal Position (m)")
plt.title("Horizontal Position of the COM over the Gait Cycle")
plt.show()
# Plot global vertical of centroid
plt.figure()
plt.plot(ankle_height[0][:-5] * 100, ankle_height[1][:-5])
plt.plot(x * 100, position[1], '--')
plt.legend(('Raw Data', 'Computed Trajectory'))
plt.xlabel("% Gait Cycle")
plt.ylabel("Vertical Position (m)")
plt.title("Vertical Position of the COM over the Gait Cycle")
plt.show()
# Plot phase portraits of centroid
plt.figure()
plt.plot(ankle_hor[1][:-5], ankle_height[1][:-5])
plt.plot(position[0], position[1], '--')
# plt.scatter(position[0][0], position[1][0], marker='x', color='r')
# plt.text(position[0][0], position[1][0], 'start')
# plt.scatter(position[0][-1], position[1][-1], marker='x', color='g')
# plt.text(position[0][-1], position[1][-1], 'end')
# plt.scatter(ankle_hor[1][0], ankle_height[1][0], marker='x', color='r')
# plt.text(ankle_hor[1][0], ankle_height[1][0], 'start')
# plt.scatter(ankle_hor[1][-1], ankle_height[1][-1], marker='x', color='g')
# plt.text(ankle_hor[1][-1], ankle_height[1][-1], 'end')
plt.legend(('Raw Data', 'Computed Trajectory'))
plt.xlabel("Horizontal Position (m)")
plt.ylabel("Vertical Position (m)")
plt.title("Phase Portrait of Centroid Trajectory over the Gait Cycle")
plt.show()