diff --git a/Bindings/Java/Matlab/OpenSenseExampleFiles/APDM/APDM_IMUDataConverter.m b/Bindings/Java/Matlab/OpenSenseExampleFiles/APDM/APDM_IMUDataConverter.m new file mode 100644 index 0000000000..cc276f235c --- /dev/null +++ b/Bindings/Java/Matlab/OpenSenseExampleFiles/APDM/APDM_IMUDataConverter.m @@ -0,0 +1,83 @@ +%% APDMReading_example.m +% Example code for reading, and converting, APDM IMU sensor data to OpenSim +% friendly format. + +% ----------------------------------------------------------------------- % +% The OpenSim API is a toolkit for musculoskeletal modeling and % +% simulation. See http://opensim.stanford.edu and the NOTICE file % +% for more information. OpenSim is developed at Stanford University % +% and supported by the US National Institutes of Health (U54 GM072970, % +% R24 HD065690) and by DARPA through the Warrior Web program. % +% % +% Copyright (c) 2005-2019 Stanford University and the Authors % +% Author(s): James Dunne, Ajay Seth, Ayman Habib, Jen Hicks, Chris Dembia % +% % +% Licensed under the Apache License, Version 2.0 (the "License"); % +% you may not use this file except in compliance with the License. % +% You may obtain a copy of the License at % +% http://www.apache.org/licenses/LICENSE-2.0. % +% % +% Unless required by applicable law or agreed to in writing, software % +% distributed under the License is distributed on an "AS IS" BASIS, % +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or % +% implied. See the License for the specific language governing % +% permissions and limitations under the License. % +% ----------------------------------------------------------------------- % + +%% Clear any vairables in the workspace +clear all; close all; clc; + +%% Import OpenSim libraries +import org.opensim.modeling.* + +%% Build an apdm Settings Object. +% Instantiate the Reader Settings Class +apdmSettings = APDMDataReaderSettings(); + +% List of files to read +vecOfNames = StdVectorString(); +vecOfNames.add('Static'); +vecOfNames.add('Upper'); +vecOfNames.add('Middle'); + +% List of IMU Names to read +vecOfIMUNames = StdVectorString(); +vecOfIMUNames.add('torso'); +vecOfIMUNames.add('pelvis'); +vecOfIMUNames.add('shank'); + +for i = 0 : vecOfIMUNames.size() - 1 + % Instantiate an ExpermentalSensor using the source data file and a IMU + % name + nextSensor = ExperimentalSensor(vecOfNames.get(i), vecOfIMUNames.get(i) ); + % Add the ExperimentalSensor to the Settings + apdmSettings.append_ExperimentalSensors(nextSensor); +end + +% Write the settings to xml file +apdmSettings.print('apdmTrial_Settings.xml'); + +%% Instantiate a apdmDataReader +apdm = APDMDataReader(apdmSettings); +trialName = 'imuData01.csv'; +tables = apdm.read(trialName); + +%% Get Orientation Data as quaternions +quatTableTyped = apdm.getOrientationsTable(tables); +% Write to file +STOFileAdapterQuaternion.write(quatTableTyped, strrep(trialName,'.csv', '_quaternions.sto')); + +%% Get Acceleration Data +accelTable = apdm.getLinearAccelerationsTable(tables); +% Write to file +STOFileAdapterVec3.write(accelTable, strrep(trialName,'.csv', '_accelerations.sto')); + +%% Get Magnetic (North) Heading Data +magTable = apdm.getMagneticHeadingTable(tables); +% Write to file +STOFileAdapterVec3.write(magTable, strrep(trialName,'.csv', '_magnetometers.sto')); + +%% Get Angular Velocity Data +angVelTable = apdm.getAngularVelocityTable(tables); +% Write to file +STOFileAdapterVec3.write(angVelTable, strrep(trialName,'.csv', '_gyros.sto')); diff --git a/Bindings/Java/Matlab/OpenSenseExampleFiles/APDM/imuData01.csv b/Bindings/Java/Matlab/OpenSenseExampleFiles/APDM/imuData01.csv new file mode 100644 index 0000000000..e686cfa391 --- /dev/null +++ b/Bindings/Java/Matlab/OpenSenseExampleFiles/APDM/imuData01.csv @@ -0,0 +1,1028 @@ +Test Name:,Pendulum Test 01,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, +Sample Rate:,128,Hz,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, +Time,Static/Acceleration/X,Static/Acceleration/Y,Static/Acceleration/Z,Static/Angular Velocity/X,Static/Angular Velocity/Y,Static/Angular Velocity/Z,Static/Magnetic Field/X,Static/Magnetic Field/Y,Static/Magnetic Field/Z,Static/Orientation/Scalar,Static/Orientation/X,Static/Orientation/Y,Static/Orientation/Z,Static/Temperature/Scalar,Static/Pressure/Scalar,Upper/Acceleration/X,Upper/Acceleration/Y,Upper/Acceleration/Z,Upper/Angular Velocity/X,Upper/Angular 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+7.999645125,0.158696249,0.298471016,9.723807335,0.008545183,0.007797479,-0.012817774,31.1386445,13.62834516,-62.70943031,0.979175344,0.00110321,-0.005109196,-0.202949069,22.75069427,100.5398712,-10.68025713,0.090334781,-0.216071032,-0.017891476,-1.939596176,0.015381328,48.50001144,23.48155022,-6.673177004,0.434235939,0.556654978,0.431137644,-0.56186717,21.57878304,100.4589996,-12.82021484,0.139164394,-0.009765922,0.000427259,-0.013672292,-2.058748007,50.81941833,9.731741714,28.75820122,0.690088358,0.120323701,0.703641436,-0.119117567,23.04757881,100.5719147,0.496841319,14.15326324,-0.646382016,0.010734886,-0.082461011,-2.054956222,3.15744493,-48.20581474,19.04354858,0.520816253,0.539270606,0.488900302,0.445997913,20.71156883,100.5734406 diff --git a/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_CalibrateModel.m b/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_CalibrateModel.m index 6e9aa5069b..c3c987ab2e 100644 --- a/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_CalibrateModel.m +++ b/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_CalibrateModel.m @@ -1,7 +1,7 @@ %% CalibrateOpenSenseModel.m % Example code to calibrate orienation data with OpenSense. This % script uses the OpenSense library functions and is part of the OpenSense -% Example files. +% Example files. % ----------------------------------------------------------------------- % % The OpenSim API is a toolkit for musculoskeletal modeling and % @@ -11,7 +11,7 @@ % R24 HD065690) and by DARPA through the Warrior Web program. % % % % Copyright (c) 2005-2019 Stanford University and the Authors % -% Author(s): James Dunne % +% Author(s): James Dunne, Ajay Seth, Ayman Habib, Jen Hicks, Chris Dembia % % % % Licensed under the Apache License, Version 2.0 (the "License"); % % you may not use this file except in compliance with the License. % @@ -23,22 +23,22 @@ % WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or % % implied. See the License for the specific language governing % % permissions and limitations under the License. % -% ----------------------------------------------------------------------- % +% ----------------------------------------------------------------------- % -%% Clear the Workspace variables. +%% Clear the Workspace variables. clear all; close all; clc; import org.opensim.modeling.* %% Set variables to use modelFileName = 'Rajagopal_2015.osim'; % The path to an input model -orientationsFileName = 'MT_012005D6_009-001_orientations.sto'; % The path to orientation data for calibration +orientationsFileName = 'MT_012005D6_009-001_orientations.sto'; % The path to orientation data for calibration baseIMUName = 'pelvis_imu'; % The base IMU is the IMU on the base body of the model that dictates the heading (forward) direction of the model. -baseIMUHeading = CoordinateAxis(2); % The Coordinate Axis of the base IMU that points in the heading direction. +baseIMUHeading = CoordinateAxis(2); % The Coordinate Axis of the base IMU that points in the heading direction. visulizeCalibration = true; % Boolean to Visualize the Output model %% Instantiate an OpenSenseUtilities object ou = OpenSenseUtilities(); - + %% Generate a model that calibrates the IMU sensors to a model pose. model = ou.calibrateModelFromOrientations(modelFileName,... orientationsFileName,... @@ -46,4 +46,4 @@ baseIMUHeading,... visulizeCalibration); %% Print the calibrated model to file. -model.print(['calibrated_' modelFileName]) \ No newline at end of file +model.print(['calibrated_' modelFileName]) diff --git a/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_IMUDataConverter.m b/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_IMUDataConverter.m index 8f2cdfe76f..06075cd466 100644 --- a/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_IMUDataConverter.m +++ b/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_IMUDataConverter.m @@ -1,7 +1,7 @@ %% IMUDataConverter.m % Example code for reading, and converting, XSENS IMU sensor data to % OpenSense friendly format. -% Run this script from the OpenSenseExampleFiles directory. +% Run this script from the OpenSenseExampleFiles directory. % ----------------------------------------------------------------------- % % The OpenSim API is a toolkit for musculoskeletal modeling and % @@ -11,7 +11,7 @@ % R24 HD065690) and by DARPA through the Warrior Web program. % % % % Copyright (c) 2005-2019 Stanford University and the Authors % -% Author(s): James Dunne % +% Author(s): James Dunne, Ajay Seth, Ayman Habib, Jen Hicks, Chris Dembia % % % % Licensed under the Apache License, Version 2.0 (the "License"); % % you may not use this file except in compliance with the License. % @@ -23,15 +23,15 @@ % WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or % % implied. See the License for the specific language governing % % permissions and limitations under the License. % -% ----------------------------------------------------------------------- % +% ----------------------------------------------------------------------- % %% Clear any variables in the workspace -clear all; close all; clc; +clear all; close all; clc; %% Import OpenSim libraries import org.opensim.modeling.* -%% Build an Xsens Settings Object. +%% Build an Xsens Settings Object. % Instantiate the Reader Settings Class xsensSettings = XsensDataReaderSettings('myIMUMappings.xml'); % Instantiate an XsensDataReader diff --git a/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_OrientationTracking.m b/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_OrientationTracking.m index bea4ca26ce..df64bd777a 100644 --- a/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_OrientationTracking.m +++ b/Bindings/Java/Matlab/OpenSenseExampleFiles/OpenSense_OrientationTracking.m @@ -1,7 +1,7 @@ %% OpenSense_OrientationTracking.m % Example code to perform orienation tracking with OpenSense. This % script uses the OpenSense library functions and is part of the OpenSense -% Example files. +% Example files. % ----------------------------------------------------------------------- % % The OpenSim API is a toolkit for musculoskeletal modeling and % @@ -11,7 +11,7 @@ % R24 HD065690) and by DARPA through the Warrior Web program. % % % % Copyright (c) 2005-2019 Stanford University and the Authors % -% Author(s): James Dunne % +% Author(s): James Dunne, Ajay Seth, Ayman Habib, Jen Hicks, Chris Dembia % % % % Licensed under the Apache License, Version 2.0 (the "License"); % % you may not use this file except in compliance with the License. % @@ -25,41 +25,41 @@ % permissions and limitations under the License. % % ----------------------------------------------------------------------- % -%% Clear the Workspace variables. +%% Clear the Workspace variables. clear all; close all; clc; import org.opensim.modeling.* %% Set variables to use modelFileName = 'calibrated_Rajagopal_2015.osim'; % The path to an input model -orientationsFileName = 'MT_012005D6_009-001_orientations.sto'; % The path to orientation data for calibration +orientationsFileName = 'MT_012005D6_009-001_orientations.sto'; % The path to orientation data for calibration baseIMUName = 'pelvis_imu'; % The base IMU is the IMU on the base body of the model that dictates the heading (forward) direction of the model. -baseIMUHeading = 'z'; % The Coordinate Axis of the base IMU that points in the heading direction. +baseIMUHeading = 'z'; % The Coordinate Axis of the base IMU that points in the heading direction. visualizeTracking = true; % Boolean to Visualize the tracking simulation -startTime = 7.25; % Start time (in seconds) of the tracking simulation. +startTime = 7.25; % Start time (in seconds) of the tracking simulation. endTime = 15; % End time (in seconds) of the tracking simulation. resultsDirectory = 'IKResults'; %% Instantiate an InverseKinematicsStudy ik = InverseKinematicsStudy(); - + %% Set the model path to be used for tracking ik.set_model_file_name(modelFileName); - + % Set file with orientations to track ik.set_orientations_file_name(orientationsFileName); - + % Set time range in seconds -ik.set_time_range(0, startTime); -ik.set_time_range(1, endTime); +ik.set_time_range(0, startTime); +ik.set_time_range(1, endTime); % Set the base IMU ik.set_base_imu_label(baseIMUName); - + % Set the axis heading ik.set_base_heading_axis(baseIMUHeading); % Set a directory for the results to be written to ik.set_results_directory(resultsDirectory) - + % Run IK -ik.run(visualizeTracking); \ No newline at end of file +ik.run(visualizeTracking);