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msm/ShoulderModel_HHT/versatile_function.m
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versatile_function.m
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function Output = versatile_function(task,varargin)
%{
Function for performing different geometrically oriented tasks.
--------------------------------------------------------------------------
Syntax :
Output = versatile_function(task,varargin)
--------------------------------------------------------------------------
Function Description :
This function is dedicated to perform different geometrically oriented
tasks. It receives the task description from the 'task' input based on
which it choses which routine has to be executed. Here are the lists of the
a priori defined tasks:
1- 'define Rot_H2T' : it defines the rotation matrix of humerus
to thorax based on the current generalized coordinates inputted
by the varargin.
2- 'define partial velocities matrix' : it defines the partial
velocities matrix associated with the rotational generalizde
coordinates.
3- 'define DRot_H2T' : it defines the time differentiation of
the rotation matrix of humerus to thorax based on the inputted
values for the generalized coordinates and their associated
rates of change from the varargin.
4- 'define Rot_G2T' : it defines the rotation matrix of the
glenoid to thorax based on the inputted values for the
generalized coordinates and the scapulohumeral rhythm.
--------------------------------------------------------------------------
%}
% 1- 'define Rot_H2T' : it defines the rotation matrix of humerus to thorax
% based on the current generalized coordinates inputted by the varargin.
if isequal(task,'define Rot_H2T')
q = varargin{1,1}; % input the generalized coordinates
R_psi = [cos(q(1)) 0 sin(q(1));
0 1 0;
-sin(q(1)) 0 cos(q(1))];
R_theta = [1 0 0;
0 cos(q(2)) -sin(q(2));
0 sin(q(2)) cos(q(2))];
R_phi = [cos(q(3)) 0 sin(q(3));
0 1 0;
-sin(q(3)) 0 cos(q(3))];
R_H2T = R_phi*R_theta*R_psi;
Output = [R_H2T];
% ------------------------------------------------------------------------
% 2- 'define partial velocities matrix' : it defines the partial velocities
% matrix associated with the rotational generalizde coordinates.
elseif isequal(task,'define partial velocities matrix')
q = varargin{1,1}; % input the generalized coordinates
e = [sin(q(2))*sin(q(3)) cos(q(2)) cos(q(3))*sin(q(2));
cos(q(3)) 0 -sin(q(3)) ;
0 1 0 ]; % partial velocities matrix
Output = e;
% -------------------------------------------------------------------------
% 3- 'define DRot_H2T' : it defines the time differentiation of the rotation
% matrix of humerus to thorax based on the inputted values for the generalized
% coordinates and their associated rates of change from the varargin.
elseif isequal(task,'define DRot_H2T')
q = varargin{1,1}; % input the generalized coordinates
R_psi = [cos(q(1)) 0 sin(q(1));
0 1 0;
-sin(q(1)) 0 cos(q(1))];
R_theta = [1 0 0;
0 cos(q(2)) -sin(q(2));
0 sin(q(2)) cos(q(2))];
R_phi = [cos(q(3)) 0 sin(q(3));
0 1 0;
-sin(q(3)) 0 cos(q(3))];
DR_psi = [-q(7)*sin(q(1)) 0 q(7)*cos(q(1));
0 0 0;
-q(7)*cos(q(1)) 0 -q(7)*sin(q(1))];
DR_theta = [0 0 0;
0 -q(8)*sin(q(2)) -q(8)*cos(q(2));
0 q(8)*cos(q(2)) -q(8)*sin(q(2))];
DR_phi = [-q(9)*sin(q(3)) 0 q(9)*cos(q(3));
0 0 0;
-q(9)*cos(q(3)) 0 -q(9)*sin(q(3))];
DR_H2T = DR_phi*R_theta*R_psi + R_phi*DR_theta*R_psi + R_phi*R_theta*DR_psi;
Output = [DR_H2T];
% -------------------------------------------------------------------------
% 4- 'define Rot_G2T' : it defines the rotation matrix of the glenoid to
% thorax based on the inputted values for the generalized coordinates and
% the scapulohumeral rhythm.
elseif isequal(task,'define Rot_G2T')
q = varargin{1,1}; % input the generalized coordinates
% define the glenoid motion using the scapulohumeral rhythm:
if ge(q(2),-pi/6) % or IDDATA.Coordinate_Evolution(2,j)ImposedMotion(4,j)
% if full-state convergence's achieved
qg = 0;
else
qg = (1/2)*(q(2)+pi/6);
end
R_G2T = [1 0 0;
0 cos(qg) -sin(qg);
0 sin(qg) cos(qg)]; % glenoid to thorax rotation matrix
Output = [R_G2T];
% ------------------------------------------------------------------------
% error message
else
error('using undefined task for function "versatile_function"');
end
return;
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