//    This file contains two templates. One which only measures anatomical joint angles 

//    and one which measures both joint angles and projects the external joint moment 

//    vectors onto the rotation axis. 

// 

//    The CreateJointMeasures template creates a folder with measures of 

//    the anatomical joint angles. Angles are measured based on the 

//    Grood&Suntay convention also recommended by ISB. 

//    

//    Inputs are AnyRefFrame derived classes which represent the antomical

//    coordinate system for the segments. In the example below; all *StaticMarkerFrame 

//    variables represent embedded cordinate-systems (AnyRefNodes) between which the

//    joint angles are measured. 

//

//    NOTE: The reference coordinate system needs to be defined in the model. Otherwise

//    the code will not work. If this template should produce joint angles as 

//    recommended by ISB, then the coordinate systems (StaticMarkerFrame's) must be 

//    alligned as recommended by ISB. 

//

//    EXAMPLE:

//    CreateJointMeasures Right (

//    PELVIS_FRAME= BodyModelRef.Trunk.SegmentsLumbar.PelvisSeg.StaticMarkerFrame,

//    THIGH_HIP_FRAME = BodyModelRef.Right.Leg.Seg.Thigh.HipStaticMarkerFrame,

//    THIGH_KNEE_FRAME = BodyModelRef.Right.Leg.Seg.Thigh.KneeStaticMarkerFrame,

//    SHANK_KNEE_FRAME = BodyModelRef.Right.Leg.Seg.Shank.KneeStaticMarkerFrame,

//    SHANK_ANKLE_FRAME = BodyModelRef.Right.Leg.Seg.Shank.AnkleStaticMarkerFrame,

//    FOOT_ANKLE_FRAME = BodyModelRef.Right.Leg.Seg.Foot.AnkleStaticMarkerFrame,

//    ) = { Sign = 1;};

//

//

//    The CreateJointAnglesAndMomentMeasures does the same CreateJointMeasures 

//    template. Additionally it also takes the three moment vectors as input, and  

//    calculate the moment vector projection onto the rotation axis. Note that the 

//    first and last rotation axis is not necessaryly perpendicular with Grood&Suntay 

//    convention so the projected moments may not make sense in physical way. However, 

//    they are often used in littereature so they are worth knowing. 

//

//    EXAMPLE:

//    CreateJointAnglesAndMomentMeasures Left (

//    PELVIS_FRAME= BodyModelRef.Trunk.SegmentsLumbar.PelvisSeg.StaticMarkerFrame,

//    THIGH_HIP_FRAME = BodyModelRef.Left.Leg.Seg.Thigh.HipStaticMarkerFrame,

//    THIGH_KNEE_FRAME = BodyModelRef.Left.Leg.Seg.Thigh.KneeStaticMarkerFrame,

//    SHANK_KNEE_FRAME = BodyModelRef.Left.Leg.Seg.Shank.KneeStaticMarkerFrame,

//    SHANK_ANKLE_FRAME = BodyModelRef.Left.Leg.Seg.Shank.AnkleStaticMarkerFrame,

//    FOOT_ANKLE_FRAME = BodyModelRef.Left.Leg.Seg.Foot.AnkleStaticMarkerFrame,

//    HIPMOMENT = BodyModelRef.Left.Leg.MomentMeasure.HipNetMoment.M,

//    KNEEMOMENT = BodyModelRef.Left.Leg.MomentMeasure.KneeNetMoment.M,

//    ANKLEMOMENT = BodyModelRef.Left.Leg.MomentMeasure.AnklePlantarFlexionNetMoment.M

//   ) = { Sign = -1;};

//

//

#class_template CreateJointMeasures (PELVIS_FRAME,THIGH_HIP_FRAME,THIGH_KNEE_FRAME,SHANK_KNEE_FRAME,SHANK_ANKLE_FRAME,FOOT_ANKLE_FRAME){

  #var AnyInt Sign = 1;

  AnyKinMeasureLinComb HipFlexion = {

    AnyKinRotational HipMeasure ={

      AnyRefFrame &PelvisRef = ...PELVIS_FRAME ;

      AnyRefFrame &ThighRef = ...THIGH_HIP_FRAME ;

      Type=RotAxesAngles;

      Axis1 = z; Axis2 = x; Axis3 = y;

    };

    OutDim = 1;

    Coef = {{1,0,0}}*180/pi;

  };

  AnyKinMeasureLinComb HipAdduction = {

    AnyKinRotational &HipJoint =.HipFlexion.HipMeasure; 

    Coef = .Sign *{{0,1,0}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb HipInternalRotation ={

    AnyKinRotational &HipJoint =.HipFlexion.HipMeasure; 

    Coef =.Sign *{{0,0,1}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb KneeFlexion = {

    AnyKinRotational KinRot ={

      AnyRefFrame &ThighRef = ...THIGH_KNEE_FRAME;

      AnyRefFrame &ShankRef = ...SHANK_KNEE_FRAME;

      Type=RotAxesAngles;

      Axis1 = z; Axis2 = x; Axis3 = y;

    };

    Coef =-1*{{1,0,0}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb KneeAdduction = {

    AnyKinRotational &KinRot = .KneeFlexion.KinRot;

    Coef =.Sign *{{0,1,0}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb KneeInternalRotation = {

    AnyKinRotational &KinRot = .KneeFlexion.KinRot;

    Coef =.Sign *{{0,0,1}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb AnkleDorsiFlexion = {  

    AnyKinRotational KinRot ={

      AnyRefFrame &ShankRef = ...SHANK_ANKLE_FRAME;

      AnyRefFrame &FootRef = ...FOOT_ANKLE_FRAME;

      Type=RotAxesAngles;

      Axis1 = z; Axis2 = x; Axis3 = y;

    };

    Coef ={{1,0,0}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb AnkleInversion ={

    AnyKinRotational &KinRot =.AnkleDorsiFlexion.KinRot; 

    Coef  =.Sign*{{0,1,0}}*180/pi;

    OutDim = 1;

  };    

  AnyKinMeasureLinComb AnkleInternalRotation = {

    AnyKinRotational &KinRot =.AnkleDorsiFlexion.KinRot; 

    Coef  = .Sign*{{0,0,1}}*180/pi;

    OutDim = 1;

  };

}; 

#class_template CreateJointAnglesAndMomentMeasures (PELVIS_FRAME,THIGH_HIP_FRAME,THIGH_KNEE_FRAME,SHANK_KNEE_FRAME,SHANK_ANKLE_FRAME,FOOT_ANKLE_FRAME, HIPMOMENT, KNEEMOMENT, ANKLEMOMENT  ){

  #var AnyInt Sign = 1;

  AnyKinMeasureLinComb HipFlexion = {

    AnyVar M_Projected = -..PELVIS_FRAME.Axes'[2]*..HIPMOMENT';

    AnyKinRotational HipMeasure ={

      AnyRefFrame &PelvisRef = ...PELVIS_FRAME ;

      AnyRefFrame &ThighRef = ...THIGH_HIP_FRAME ;

      Type=RotAxesAngles;

      Axis1 = z; Axis2 = x; Axis3 = y;

    };

    Coef = {{1,0,0}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb HipAdduction = {

    AnyVar M_Projected = .Sign*cross(..PELVIS_FRAME.Axes'[2],..THIGH_HIP_FRAME.Axes'[1])*..HIPMOMENT';

    AnyKinRotational &HipJoint =.HipFlexion.HipMeasure; 

    Coef =.Sign *{{0,1,0}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb HipInternalRotation ={

    AnyVar M_Projected = -1*.Sign*..THIGH_HIP_FRAME.Axes'[1]*..HIPMOMENT';

    AnyKinRotational &HipJoint =.HipFlexion.HipMeasure; 

    Coef =.Sign *{{0,0,1}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb KneeFlexion = {

    AnyVar M_Projected = ..THIGH_KNEE_FRAME.Axes'[2]*..KNEEMOMENT';

    AnyKinRotational KinRot ={

      AnyRefFrame &ThighRef = ...THIGH_KNEE_FRAME;

      AnyRefFrame &ShankRef = ...SHANK_KNEE_FRAME;

      Type=RotAxesAngles;

      Axis1 = z; Axis2 = x; Axis3 = y;

    };

    Coef =-1*{{1,0,0}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb KneeAdduction = {

    AnyVar M_Projected = .Sign*cross(..THIGH_KNEE_FRAME.Axes'[2], ..SHANK_KNEE_FRAME.Axes'[1])*..KNEEMOMENT';

    AnyKinRotational &KinRot = .KneeFlexion.KinRot;

    Coef  =.Sign *{{0,1,0}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb KneeInternalRotation = {

    AnyVar M_Projected = -1*.Sign*..SHANK_KNEE_FRAME.Axes'[1]*..KNEEMOMENT';

    AnyKinRotational &KinRot = .KneeFlexion.KinRot;

    Coef  =.Sign *{{0,0,1}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb AnkleDorsiFlexion = {  

    AnyVar M_Projected = -1*..SHANK_ANKLE_FRAME.Axes'[2]*..ANKLEMOMENT';

    AnyKinRotational KinRot ={

      AnyRefFrame &ShankRef = ...SHANK_ANKLE_FRAME;

      AnyRefFrame &FootRef = ...FOOT_ANKLE_FRAME;

      Type=RotAxesAngles;

      Axis1 = z; Axis2 = x; Axis3 = y;

    };

    Coef  ={{1,0,0}}*180/pi;

    OutDim = 1;

  };

  AnyKinMeasureLinComb AnkleInversion ={

    AnyVar M_Projected = .Sign*cross(..SHANK_ANKLE_FRAME.Axes'[2],..FOOT_ANKLE_FRAME.Axes'[1])*..ANKLEMOMENT';

    AnyKinRotational &KinRot =.AnkleDorsiFlexion.KinRot; 

    Coef  =.Sign*{{0,1,0}}*180/pi;

    OutDim = 1;

  };    

  AnyKinMeasureLinComb AnkleInternalRotation = {

    AnyVar M_Projected = -1*.Sign*..FOOT_ANKLE_FRAME.Axes'[1]*..ANKLEMOMENT';

    AnyKinRotational &KinRot =.AnkleDorsiFlexion.KinRot; 

    Coef  = .Sign*{{0,0,1}}*180/pi;

    OutDim = 1;

  };

};