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371.32336 -10.00 0.67238 1.38396 0.64251 0.92459 0.63808 0.52444 0.51406 0.09746 0.45993 0.06957 0.63579 0.03792 7.01516 582.54974 370.08143 diff --git a/gaitanalysis/octave/2d_inverse_dynamics/test/refresults.mat b/gaitanalysis/octave/2d_inverse_dynamics/test/refresults.mat deleted file mode 100644 index 596195a..0000000 Binary files a/gaitanalysis/octave/2d_inverse_dynamics/test/refresults.mat and /dev/null differ diff --git a/gaitanalysis/octave/2d_inverse_dynamics/test/test.m b/gaitanalysis/octave/2d_inverse_dynamics/test/test.m deleted file mode 100644 index cd5ea9c..0000000 --- a/gaitanalysis/octave/2d_inverse_dynamics/test/test.m +++ /dev/null @@ -1,61 +0,0 @@ -function [pass] = test - % test the leg2d analysis code - - addpath('..'); % add parent folder to search path, this is where leg2d.m is located - - % load the raw data and extract time stamps, mocap data, and force plate data - d = load('rawdata.txt'); - times = d(:,1); - mocapdata = d(:,2:13); - bodymass = 67.2; % this data was from subject 7 from the HBM paper - fpdata = d(:,14:16)/bodymass; % normalize force plate data to body mass (as required by leg2d) - - % do the analysis - options.freq = 6; % cutoff frequency - [angles, velocities, moments, forces] = leg2d(times, mocapdata, fpdata, options); - - % make the plots - jointnames = {'hip','knee','ankle'}; - figure(1) - clf - for i=1:3 - subplot(5,3,i) - plot(times,angles(:,i)*180/pi); - ylabel('angle (deg)'); - xlabel('time (s)'); - title(jointnames{i}); - - subplot(5,3,3+i) - plot(times,moments(:,i)); - ylabel('moment (Nm/kg)'); - xlabel('time (s)'); - - subplot(5,3,6+i) - plot(times,moments(:,i).*velocities(:,i)); - ylabel('power (W/kg)'); - xlabel('time (s)'); - - subplot(5,3,9+i) - plot(times,velocities(:,i)*180/pi); - ylabel('ang.vel (deg/s)'); - xlabel('time (s)'); - - subplot(5,3,12+i) - plot(times,forces(:,2*i-1:2*i)); - ylabel('force (N/kg)'); - xlabel('time (s)'); - legend('Fx','Fy'); - end - - % compare to correct reference results, and decide pass if max difference is below 1e-6 - allresults = [angles velocities moments forces]; - if (exist('refresults.mat') == 2) - load('refresults.mat'); - else - refresults = allresults; - save('refresults.mat', 'refresults'); - fprintf('File refresults.mat has been created.'); - end - pass = (max(max(abs(allresults - refresults))) < 1e-6); - -end \ No newline at end of file diff --git a/gaitanalysis/octave/2d_inverse_dynamics/tests/input.tsv b/gaitanalysis/octave/2d_inverse_dynamics/tests/input.tsv new file mode 100644 index 0000000..fc97d21 --- /dev/null +++ b/gaitanalysis/octave/2d_inverse_dynamics/tests/input.tsv @@ -0,0 +1,300 @@ +15.0 0.74248 1.48346 0.77681 0.92585 0.79235 0.52471 0.45108000000000004 0.25190999999999997 0.41994 0.29285 0.45216999999999996 0.09941 -16.754479999999997 8.841619999999999 1.52221 +15.01 0.7405 1.48456 0.7763100000000001 0.92785 0.8027 0.52733 0.45906 0.25863 0.42801000000000006 0.29848 0.46125 0.10715999999999999 -4.13127 -7.48568 -5.65813 +15.02 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script_path = mfilename('fullpath'); + script_dir = fileparts(script_path); + + % add parent folder to the path, this is where leg2d.m is located + addpath([script_dir filesep '..']); + + % load the raw data and extract time stamps, mocap data, and force plate + % data + d = load([script_dir filesep 'input.tsv']); + + times = d(:,1); + + mocapdata = d(:, 2:13); + % the GTRO marker has lots of dropout in this data, set them to nan + nan_tol = 1e-10; + mocapdata((-nan_tol < mocapdata) & (mocapdata < nan_tol)) = nan; + + bodymass = 77.0; + fpdata = d(:, 14:16) / bodymass; % normalize force plate data to body mass + + % do the analysis + options.freq = 6.0; % cutoff frequency + [angles, velocities, moments, forces] = ... + leg2d(times, mocapdata, fpdata, options); + + % scale the loads back to normal + moments = bodymass .* moments; + forcess = bodymass .* forces; + + expected_ang = load('output_angles.tsv'); + expected_ang = expected_ang(:, 2:4); + + expected_vel = load('output_rates.tsv'); + expected_vel = expected_vel(:, 2:4); + + expected_mom = load('output_torques.tsv'); + expected_mom = expected_mom(:, 2:4); + + % TODO : See if Ton has these forces. + %expected_for = load('output_forces.tsv'); + %expected_for = expected_for(:, 2:4); + + if do_plot + + jointnames = {'hip','knee','ankle'}; + figure(1) + + for i=1:3 + + subplot(5, 3, i) + plot(times, rad2deg(expected_ang(:, i)), 'k', ... + times, rad2deg(angles(:, i)), 'b.'); + ylabel('angle (deg)'); + title(jointnames{i}); + + subplot(5, 3, 3 + i) + plot(times, rad2deg(expected_vel(:, i)), 'k', ... + times, rad2deg(velocities(:, i)), 'b.'); + ylabel('ang.vel (deg/s)'); + + subplot(5, 3, 6 + i) + plot(times, expected_mom(:,i), 'k', ... + times, moments(:,i), 'b.'); + ylabel('moment (Nm)'); + + % TODO : Octave doesn't plot this row for some reason. + subplot(5, 3, 9+i) + plot(times, expected_mom(:,i) .* expected_vel(:,i), 'k', ... + times, moments(:,i) .* velocities(:,i), 'b.'); + ylabel('power (W)'); + + % TODO : plot the joint force comparisons + %subplot(5, 3, 12+i) + %plot(times, expected_for(:, 2*i-1:2*i), 'k', ... + %times, forces(:, 2*i-1:2*i), 'b'); + %ylabel('force (N/kg)'); + xlabel('time (s)'); + end + end + + % compare to correct reference results, and decide pass if max + % difference is below 1e-6 + results = [angles velocities moments]; + expected_results = [expected_ang expected_vel expected_mom]; + tol = 1e-6; + if exist('OCTAVE_VERSION', 'builtin') ~= 0 + % Octave has an extended version of assert with floating point + % comparisons. + assert(results, expected_results, tol); + else + assert(all(all(abs(results - expected_results) < tol))); + end + +end + +function deg = rad2deg(rad) + deg = rad * 180.0 / pi; +end