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/Application/Examples/FreePosture/Model/InterpolationFunctions.any
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| a | b/Application/Examples/FreePosture/Model/InterpolationFunctions.any | ||
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| 1 | |||
| 2 | |||
| 3 | AnyFolder InterpolationFunctions = { |
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| 4 | |||
| 5 | // Aliases for convenient referencing |
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| 6 | AnyFolder &JntPos=.Posture; |
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| 7 | AnyFolder &Thorax = ...HumanModel.BodyModel.Trunk.SegmentsThorax.ThoraxSeg; |
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| 8 | |||
| 9 | // ************************************ |
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| 10 | // Functions for attaching the pelvis to the global reference system |
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| 11 | // ************************************ |
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| 12 | |||
| 13 | AnyFunInterpol PelvisGroundFunction ={ |
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| 14 | |||
| 15 | Data={ |
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| 16 | .JntPos.PelvisPosXVec, |
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| 17 | .JntPos.PelvisPosYVec, |
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| 18 | .JntPos.PelvisPosZVec, |
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| 19 | pi/180*.JntPos.PelvisRotZVec, |
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| 20 | pi/180*.JntPos.PelvisRotYVec, |
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| 21 | pi/180*.JntPos.PelvisRotXVec |
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| 22 | }; |
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| 23 | T=.JntPos.PelvisPosTime; |
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| 24 | Type=Bspline; |
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| 25 | }; |
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| 26 | |||
| 27 | |||
| 28 | // ************************************ |
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| 29 | // Functions for the spine |
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| 30 | // ************************************ |
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| 31 | |||
| 32 | //Neck Function |
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| 33 | AnyFunInterpol NeckFunction = { |
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| 34 | Data = pi/180*{ |
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| 35 | .JntPos.NeckLateralBendingVec, |
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| 36 | .JntPos.NeckAxialRotationVec, |
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| 37 | .JntPos.NeckExtensionVec |
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| 38 | }; |
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| 39 | T=.JntPos.NeckTime; |
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| 40 | Type=Bspline; |
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| 41 | }; |
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| 42 | |||
| 43 | //Thorax pelvis rotation Function |
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| 44 | AnyFunInterpol PostureFunction = { |
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| 45 | Data = pi/180*{ |
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| 46 | .JntPos.PelvisThoraxLateralBendingVec, |
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| 47 | .JntPos.PelvisThoraxRotationVec, |
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| 48 | .JntPos.PelvisThoraxExtensionVec |
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| 49 | }; |
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| 50 | T=.JntPos.PelvisThoraxTime; |
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| 51 | Type=Bspline; |
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| 52 | }; |
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| 53 | |||
| 54 | // ************************************ |
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| 55 | // Functions for the right arm |
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| 56 | // ************************************ |
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| 57 | |||
| 58 | //Sterno clavicular joint Function |
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| 59 | AnyFunInterpol SCFunctionRight ={ |
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| 60 | Data = pi/180*{ |
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| 61 | .JntPos.Right.SternoClavicularProtractionVec, |
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| 62 | .JntPos.Right.SternoClavicularElevationVec |
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| 63 | }; |
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| 64 | T=.JntPos.Right.SternoClavicularTime; |
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| 65 | Type=Bspline; |
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| 66 | }; |
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| 67 | |||
| 68 | //Glenohumeral joint |
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| 69 | AnyFunInterpol GHFunctionRight={ |
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| 70 | Data=pi/180*{ |
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| 71 | .JntPos.Right.GlenohumeralAbductionVec, //GH joint |
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| 72 | .JntPos.Right.GlenohumeralFlexionVec, //GH joint |
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| 73 | .JntPos.Right.GlenohumeralExternalRotationVec //GH joint |
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| 74 | }; |
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| 75 | T=.JntPos.Right.GlenohumeralTime; |
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| 76 | Type=Bspline; |
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| 77 | }; |
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| 78 | |||
| 79 | //Elbow flexion Function |
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| 80 | AnyFunInterpol ElbowFlexionFunctionRight={ |
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| 81 | Data=pi/180*{.JntPos.Right.ElbowFlexionVec}; |
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| 82 | T=.JntPos.Right.ElbowFlexionTime; |
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| 83 | Type=Bspline; |
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| 84 | }; |
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| 85 | |||
| 86 | //Elbow pronation Function |
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| 87 | AnyFunInterpol ElbowPronationFunctionRight={ |
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| 88 | Data = pi/180*{.JntPos.Right.ElbowPronationVec }; |
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| 89 | T=.JntPos.Right.ElbowPronationTime; |
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| 90 | Type=Bspline; |
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| 91 | }; |
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| 92 | |||
| 93 | //Wrist Function |
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| 94 | AnyFunInterpol WristFunctionRight ={ |
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| 95 | Data = pi/180*{ |
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| 96 | .JntPos.Right.WristFlexionVec, |
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| 97 | .JntPos.Right.WristAbductionVec |
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| 98 | }; |
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| 99 | T=.JntPos.Right.WristTime; |
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| 100 | Type=Bspline; |
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| 101 | }; |
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| 102 | |||
| 103 | // ************************************ |
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| 104 | // Functions for the left arm |
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| 105 | // ************************************ |
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| 106 | |||
| 107 | //Sterno clavicular joint Function |
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| 108 | AnyFunInterpol SCFunctionLeft ={ |
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| 109 | Data = pi/180*{ |
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| 110 | .JntPos.Left.SternoClavicularProtractionVec, |
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| 111 | .JntPos.Left.SternoClavicularElevationVec |
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| 112 | }; |
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| 113 | T=.JntPos.Left.SternoClavicularTime; |
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| 114 | Type=Bspline; |
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| 115 | }; |
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| 116 | |||
| 117 | //Glenohumeral joint Function |
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| 118 | AnyFunInterpol GHFunctionLeft={ |
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| 119 | Data=pi/180*{ |
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| 120 | .JntPos.Left.GlenohumeralAbductionVec, //GH joint |
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| 121 | .JntPos.Left.GlenohumeralFlexionVec, //GH joint |
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| 122 | .JntPos.Left.GlenohumeralExternalRotationVec //GH joint |
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| 123 | }; |
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| 124 | T=.JntPos.Left.GlenohumeralTime; |
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| 125 | Type=Bspline; |
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| 126 | }; |
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| 127 | |||
| 128 | //Elbow flexion Function |
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| 129 | AnyFunInterpol ElbowFEFunctionLeft={ |
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| 130 | Data=pi/180*{.JntPos.Left.ElbowFlexionVec}; |
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| 131 | T=.JntPos.Left.ElbowFlexionTime; |
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| 132 | Type=Bspline; |
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| 133 | }; |
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| 134 | |||
| 135 | //Elbow pronation Function |
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| 136 | AnyFunInterpol ElbowPSFunctionLeft={ |
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| 137 | Data= pi/180*{.JntPos.Left.ElbowPronationVec }; |
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| 138 | T=.JntPos.Left.ElbowPronationTime; |
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| 139 | Type=Bspline; |
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| 140 | }; |
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| 141 | |||
| 142 | //Wrist Function |
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| 143 | AnyFunInterpol WristFunctionLeft = { |
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| 144 | Data = pi/180*{ |
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| 145 | .JntPos.Left.WristFlexionVec, |
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| 146 | .JntPos.Left.WristAbductionVec}; |
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| 147 | T=.JntPos.Left.WristTime; |
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| 148 | Type=Bspline; |
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| 149 | }; |
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| 150 | |||
| 151 | // ************************************ |
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| 152 | // Functions for the right leg |
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| 153 | // ************************************ |
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| 154 | |||
| 155 | //Hip Function |
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| 156 | AnyFunInterpol HipFunctionRight={ |
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| 157 | Data= pi/180*{ |
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| 158 | .JntPos.Right.HipFlexionVec, |
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| 159 | .JntPos.Right.HipExternalRotationVec, |
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| 160 | .JntPos.Right.HipAbductionVec |
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| 161 | }; |
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| 162 | T=.JntPos.Left.HipTime; |
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| 163 | Type=Bspline; |
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| 164 | }; |
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| 165 | |||
| 166 | //Knee Function |
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| 167 | AnyFunInterpol KneeFunctionRight={ |
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| 168 | Data=pi/180*{.JntPos.Right.KneeFlexionVec}; |
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| 169 | T=.JntPos.Left.KneeTime; |
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| 170 | Type=Bspline; |
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| 171 | }; |
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| 172 | |||
| 173 | //Ankle Function |
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| 174 | AnyFunInterpol AnkleFunctionRight={ |
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| 175 | Data = pi/180*{.JntPos.Right.AnklePlantarFlexionVec,.JntPos.Right.SubTalarEversionVec}; |
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| 176 | T=.JntPos.Left.AnkleTime; |
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| 177 | Type=Bspline; |
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| 178 | }; |
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| 179 | |||
| 180 | // ************************************ |
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| 181 | // Functions for the Left leg |
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| 182 | // ************************************ |
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| 183 | |||
| 184 | //Left hip Function |
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| 185 | AnyFunInterpol HipFunctionLeft={ |
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| 186 | Data=pi/180*{ |
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| 187 | .JntPos.Left.HipFlexionVec, |
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| 188 | .JntPos.Left.HipExternalRotationVec, |
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| 189 | .JntPos.Left.HipAbductionVec |
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| 190 | }; |
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| 191 | T=.JntPos.Left.HipTime; |
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| 192 | Type=Bspline; |
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| 193 | }; |
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| 194 | |||
| 195 | //Knee Function |
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| 196 | AnyFunInterpol KneeFunctionLeft={ |
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| 197 | Data=pi/180*{.JntPos.Left.KneeFlexionVec}; |
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| 198 | T=.JntPos.Left.KneeTime; |
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| 199 | Type=Bspline; |
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| 200 | }; |
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| 201 | |||
| 202 | //Ankle Function |
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| 203 | AnyFunInterpol AnkleFunctionLeft={ |
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| 204 | Data = pi/180*{.JntPos.Left.AnklePlantarFlexionVec,.JntPos.Left.SubTalarEversionVec}; |
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| 205 | T=.JntPos.Left.AnkleTime; |
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| 206 | Type=Bspline; |
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| 207 | }; |
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| 208 | |||
| 209 | // ************************************ |
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| 210 | // Drivers for the right fingers |
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| 211 | // ************************************ |
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| 212 | AnyFolder Right ={ |
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| 213 | |||
| 214 | //finger1 |
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| 215 | AnyFunInterpol CMC1Flexion={ |
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| 216 | Data= {..JntPos.Right.Finger1.CMCFlexionVec}*pi/180; |
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| 217 | T=..JntPos.Right.Finger1.FingerTime; |
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| 218 | Type=Bspline; |
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| 219 | }; |
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| 220 | |||
| 221 | AnyFunInterpol CMC1Abduction={ |
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| 222 | Data={..JntPos.Right.Finger1.CMCDeviationVec}*pi/180; |
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| 223 | T=..JntPos.Right.Finger1.FingerTime; |
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| 224 | Type=Bspline; |
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| 225 | }; |
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| 226 | |||
| 227 | |||
| 228 | AnyFunInterpol MCP1Flexion={ |
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| 229 | Data={..JntPos.Right.Finger1.MCPFlexionVec}*pi/180; |
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| 230 | T=..JntPos.Right.Finger1.FingerTime; |
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| 231 | Type=Bspline; |
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| 232 | }; |
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| 233 | AnyFunInterpol MCP1Abduction={ |
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| 234 | Data={..JntPos.Right.Finger1.MCPDeviationVec}*pi/180; |
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| 235 | T=..JntPos.Right.Finger1.FingerTime; |
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| 236 | Type=Bspline; |
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| 237 | }; |
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| 238 | |||
| 239 | AnyFunInterpol DIP1={ |
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| 240 | Data={..JntPos.Right.Finger1.DIPFlexionVec}*pi/180; |
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| 241 | T=..JntPos.Right.Finger1.FingerTime; |
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| 242 | Type=Bspline; |
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| 243 | }; |
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| 244 | |||
| 245 | AnyFunInterpol MCP2={ |
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| 246 | Data={..JntPos.Right.Finger2.MCPFlexionVec}*pi/180; |
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| 247 | T=..JntPos.Right.Finger2.FingerTime; |
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| 248 | Type=Bspline; |
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| 249 | }; |
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| 250 | AnyFunInterpol PIP2={ |
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| 251 | Data={..JntPos.Right.Finger2.PIPFlexionVec}*pi/180; |
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| 252 | T=..JntPos.Right.Finger2.FingerTime; |
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| 253 | Type=Bspline; |
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| 254 | }; |
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| 255 | AnyFunInterpol DIP2={ |
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| 256 | Data={..JntPos.Right.Finger2.DIPFlexionVec}*pi/180; |
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| 257 | T=..JntPos.Right.Finger2.FingerTime; |
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| 258 | Type=Bspline; |
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| 259 | }; |
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| 260 | |||
| 261 | |||
| 262 | AnyFunInterpol MCP3={ |
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| 263 | Data={..JntPos.Right.Finger3.MCPFlexionVec}*pi/180; |
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| 264 | T=..JntPos.Right.Finger3.FingerTime; |
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| 265 | Type=Bspline; |
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| 266 | }; |
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| 267 | AnyFunInterpol PIP3={ |
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| 268 | Data={..JntPos.Right.Finger3.PIPFlexionVec}*pi/180; |
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| 269 | T=..JntPos.Right.Finger3.FingerTime; |
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| 270 | Type=Bspline; |
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| 271 | }; |
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| 272 | AnyFunInterpol DIP3={ |
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| 273 | Data={..JntPos.Right.Finger3.DIPFlexionVec}*pi/180; |
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| 274 | T=..JntPos.Right.Finger3.FingerTime; |
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| 275 | Type=Bspline; |
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| 276 | }; |
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| 277 | |||
| 278 | |||
| 279 | AnyFunInterpol MCP4={ |
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| 280 | Data={..JntPos.Right.Finger4.MCPFlexionVec}*pi/180; |
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| 281 | T=..JntPos.Right.Finger4.FingerTime; |
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| 282 | Type=Bspline; |
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| 283 | }; |
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| 284 | AnyFunInterpol PIP4={ |
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| 285 | Data={..JntPos.Right.Finger4.PIPFlexionVec}*pi/180; |
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| 286 | T=..JntPos.Right.Finger4.FingerTime; |
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| 287 | Type=Bspline; |
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| 288 | }; |
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| 289 | AnyFunInterpol DIP4={ |
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| 290 | Data={..JntPos.Right.Finger4.DIPFlexionVec}*pi/180; |
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| 291 | T=..JntPos.Right.Finger4.FingerTime; |
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| 292 | Type=Bspline; |
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| 293 | }; |
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| 294 | |||
| 295 | AnyFunInterpol MCP5={ |
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| 296 | Data={..JntPos.Right.Finger5.MCPFlexionVec}*pi/180; |
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| 297 | T=..JntPos.Right.Finger5.FingerTime; |
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| 298 | Type=Bspline; |
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| 299 | }; |
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| 300 | AnyFunInterpol PIP5={ |
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| 301 | Data={..JntPos.Right.Finger5.PIPFlexionVec}*pi/180; |
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| 302 | T=..JntPos.Right.Finger5.FingerTime; |
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| 303 | Type=Bspline; |
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| 304 | }; |
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| 305 | AnyFunInterpol DIP5={ |
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| 306 | Data={..JntPos.Right.Finger5.DIPFlexionVec}*pi/180; |
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| 307 | T=..JntPos.Right.Finger5.FingerTime; |
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| 308 | Type=Bspline; |
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| 309 | }; |
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| 310 | }; |
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| 311 | |||
| 312 | // ************************************ |
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| 313 | // Drivers for the Left fingers |
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| 314 | // ************************************ |
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| 315 | AnyFolder Left ={ |
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| 316 | //finger1 |
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| 317 | AnyFunInterpol CMC1Flexion={ |
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| 318 | Data= {..JntPos.Left.Finger1.CMCFlexionVec}*pi/180; |
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| 319 | T=..JntPos.Left.Finger1.FingerTime; |
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| 320 | Type=Bspline; |
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| 321 | }; |
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| 322 | |||
| 323 | AnyFunInterpol CMC1Abduction={ |
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| 324 | Data={..JntPos.Left.Finger1.CMCDeviationVec}*pi/180; |
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| 325 | T=..JntPos.Left.Finger1.FingerTime; |
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| 326 | Type=Bspline; |
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| 327 | }; |
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| 328 | |||
| 329 | |||
| 330 | AnyFunInterpol MCP1Flexion={ |
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| 331 | Data={..JntPos.Left.Finger1.MCPFlexionVec}*pi/180; |
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| 332 | T=..JntPos.Left.Finger1.FingerTime; |
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| 333 | Type=Bspline; |
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| 334 | }; |
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| 335 | |||
| 336 | AnyFunInterpol MCP1Abduction={ |
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| 337 | Data={..JntPos.Left.Finger1.MCPDeviationVec}*pi/180; |
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| 338 | T=..JntPos.Right.Finger1.FingerTime; |
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| 339 | Type=Bspline; |
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| 340 | }; |
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| 341 | |||
| 342 | AnyFunInterpol DIP1={ |
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| 343 | Data={..JntPos.Left.Finger1.DIPFlexionVec}*pi/180; |
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| 344 | T=..JntPos.Left.Finger1.FingerTime; |
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| 345 | Type=Bspline; |
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| 346 | }; |
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| 347 | |||
| 348 | AnyFunInterpol MCP2={ |
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| 349 | Data={..JntPos.Left.Finger2.MCPFlexionVec}*pi/180; |
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| 350 | T=..JntPos.Left.Finger2.FingerTime; |
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| 351 | Type=Bspline; |
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| 352 | }; |
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| 353 | AnyFunInterpol PIP2={ |
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| 354 | Data={..JntPos.Left.Finger2.PIPFlexionVec}*pi/180; |
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| 355 | T=..JntPos.Left.Finger2.FingerTime; |
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| 356 | Type=Bspline; |
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| 357 | }; |
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| 358 | AnyFunInterpol DIP2={ |
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| 359 | Data={..JntPos.Left.Finger2.DIPFlexionVec}*pi/180; |
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| 360 | T=..JntPos.Left.Finger2.FingerTime; |
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| 361 | Type=Bspline; |
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| 362 | }; |
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| 363 | |||
| 364 | |||
| 365 | AnyFunInterpol MCP3={ |
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| 366 | Data={..JntPos.Left.Finger3.MCPFlexionVec}*pi/180; |
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| 367 | T=..JntPos.Left.Finger3.FingerTime; |
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| 368 | Type=Bspline; |
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| 369 | }; |
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| 370 | AnyFunInterpol PIP3={ |
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| 371 | Data={..JntPos.Left.Finger3.PIPFlexionVec}*pi/180; |
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| 372 | T=..JntPos.Left.Finger3.FingerTime; |
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| 373 | Type=Bspline; |
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| 374 | }; |
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| 375 | AnyFunInterpol DIP3={ |
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| 376 | Data={..JntPos.Left.Finger3.DIPFlexionVec}*pi/180; |
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| 377 | T=..JntPos.Left.Finger3.FingerTime; |
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| 378 | Type=Bspline; |
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| 379 | }; |
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| 380 | |||
| 381 | |||
| 382 | AnyFunInterpol MCP4={ |
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| 383 | Data={..JntPos.Left.Finger4.MCPFlexionVec}*pi/180; |
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| 384 | T=..JntPos.Left.Finger4.FingerTime; |
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| 385 | Type=Bspline; |
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| 386 | }; |
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| 387 | AnyFunInterpol PIP4={ |
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| 388 | Data={..JntPos.Left.Finger4.PIPFlexionVec}*pi/180; |
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| 389 | T=..JntPos.Left.Finger4.FingerTime; |
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| 390 | Type=Bspline; |
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| 391 | }; |
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| 392 | AnyFunInterpol DIP4={ |
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| 393 | Data={..JntPos.Left.Finger4.DIPFlexionVec}*pi/180; |
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| 394 | T=..JntPos.Left.Finger4.FingerTime; |
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| 395 | Type=Bspline; |
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| 396 | }; |
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| 397 | |||
| 398 | AnyFunInterpol MCP5={ |
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| 399 | Data={..JntPos.Left.Finger5.MCPFlexionVec}*pi/180; |
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| 400 | T=..JntPos.Left.Finger5.FingerTime; |
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| 401 | Type=Bspline; |
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| 402 | }; |
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| 403 | AnyFunInterpol PIP5={ |
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| 404 | Data={..JntPos.Left.Finger5.PIPFlexionVec}*pi/180; |
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| 405 | T=..JntPos.Left.Finger5.FingerTime; |
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| 406 | Type=Bspline; |
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| 407 | }; |
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| 408 | AnyFunInterpol DIP5={ |
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| 409 | Data={..JntPos.Left.Finger5.DIPFlexionVec}*pi/180; |
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| 410 | T=..JntPos.Left.Finger5.FingerTime; |
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| 411 | Type=Bspline; |
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| 412 | }; |
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| 413 | |||
| 414 | |||
| 415 | |||
| 416 | |||
| 417 | |||
| 418 | }; |
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| 419 | |||
| 420 | };//Functions |
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| 421 |