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msm/ShoulderModel_NoElbow/INITIALISATION_Dataset/1MAIN_INITIALISATION_build_data_dynamics_noequations.m
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1MAIN_INITIALISATION_build_data_dynamics_noequations.m
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function DYDATA = 1MAIN_INITIALISATION_build_data_dynamics_noequations(REDATA, BLDATA)
% Function for initialising the dynamic data structure only without equa.
%--------------------------------------------------------------------------
% Syntax :
% DYDATA = MAIN_INITIALISATION_build_data_dynamics_noequations(REDATA, BLDATA)
%--------------------------------------------------------------------------
%{
The same file as MAIN_INITIALISATION_build_data_dynamics but it does not
calculate the equations of motion.
It just:
- gives the numerical values already stored in BLDATA.Original_Points
to the aforesaid 10 landmarks and save them in DYDATA.
- gives associated numerical values to mass, moment of inertia,
rib-cage ellipsoides adn save them in DYDATA.
- the associated numerical values of q, dq, and ddq will be defined
later on in the force estimation files and will be saved in
DYDATA.JEA, DYDATA.dJEAdt, and DYDATA.d2JEAdt2.
- defines the data related to the GHJ stability cone and saves them
in the DYDATA (this data is a bit of different from the one of
MAIN_INITIALISATION_build_data_dynamics).
%}
%--------------------------------------------------------------------------
% Initialise the output
DYDATA = [];
%--------------------------------------------------------------------------
% CONSTRUCT THE DYDATA STRUCTURE
%--------------------------------------------------------------------------
%{
To define the position of the bony landmarks in their local coordinates
accroding to the description given in begining of the current function
(MAIN_INITIALISATION_build_data_dynamics).
It's just needed to have the data in one configuration. The only one we
have so far is the original data.
BLDATA.Original_Points: contains the position of the bony landmarks in
the inertial frame.
BLDATA.Original_Matrices_L2A: contains the rotation matrix from local to
inertial coordinate.
%}
DYDATA.SC = BLDATA.Original_Points.SC;
DYDATA.AC = BLDATA.Original_Matrices_L2A.Rc'*(BLDATA.Original_Points.AC - BLDATA.Original_Points.SC);
DYDATA.AA = BLDATA.Original_Matrices_L2A.Rs'*(BLDATA.Original_Points.AA - BLDATA.Original_Points.AC);
DYDATA.TS = BLDATA.Original_Matrices_L2A.Rs'*(BLDATA.Original_Points.TS - BLDATA.Original_Points.AC);
DYDATA.AI = BLDATA.Original_Matrices_L2A.Rs'*(BLDATA.Original_Points.AI - BLDATA.Original_Points.AC);
DYDATA.GH = BLDATA.Original_Matrices_L2A.Rs'*(BLDATA.Original_Points.GH - BLDATA.Original_Points.AC);
DYDATA.HU = BLDATA.Original_Matrices_L2A.Rh'*(BLDATA.Original_Points.HU - BLDATA.Original_Points.GH);
DYDATA.US = BLDATA.Original_Matrices_L2A.Ru'*(BLDATA.Original_Points.US - BLDATA.Original_Points.HU);
DYDATA.CP = BLDATA.Original_Matrices_L2A.Ru'*(BLDATA.Original_Points.CP - BLDATA.Original_Points.HU);
DYDATA.RS = BLDATA.Original_Matrices_L2A.Rr'*(BLDATA.Original_Points.RS - BLDATA.Original_Points.CP);
% Ribcage Ellipsoid Data for scapulothoracic constraints
DYDATA.OE = REDATA.Centre;
DYDATA.AE = [REDATA.TSaxes, REDATA.AIaxes];
% Mass Parameters
Mc = 0.156;
Ms = 0.704;
Mh = 2.052; % The body weight of our male subject is Mh*100/2.4 (=85.5 Kg) according to R. Dumas
M_u = 0.9012; % not in the paper by Breteler but close to "A multibody biomechanical model of the upper limb including the shoulder girdle"
Mr = 0.5523; % not in the paper by Breteler "
DYDATA.MHand = 0;% The Radius mass can also contain a weight carried in the hand.
DYDATA.LHand = 0;% The inertia will be MHand*LHand^2, the position from CP;
% Gravitational Constant
g = 9.81;
% Inertia Parameters
Ict = 0.001; Icl = 0.003; % from before, but I do not like them as they are not consistent with the other segments values or the portugease paper
Ist = 0.007; Isl = 0.007; % the same as above
Iht = 0.0165; Ihl = 0.0033; % these values are quite different that what it was before.
Iut = 0.0060; Iul = 9.6437e-04; % defined using the SUBJECT_TOOL_Update_Weight by giving 85.5kg and 1.86 m, and the values are comparable to those of Portugease
Irt = 0.0037; Irl = 5.9107e-04; % the same as above
% ATTENTION!! One needs to apply the parallel axis theorem to be correct.
%Iht = 1.32 + 0.612 + 0.064;
% This works, all axes are colinear
%Ihl = 0.199 + 0.091 + 0.019;
% Inertia Data
DYDATA.Inertia = [Mc, Ms, Mh, M_u, Mr;
Ict, Icl, 0 ,0 ,0;
Ist, Isl, 0 ,0 ,0;
Iht, Ihl, 0 ,0 ,0;
Iut, Iul, 0 ,0 ,0;
Irt, Irl, 0 ,0 ,0;
g, 0, 0 ,0 ,0];
%--------------------------------------------------------------------------
% GLENOID STABILITY CONE PARAMETERS
%--------------------------------------------------------------------------
% Cone Scaling Factor
Pf = 1;
% Cone Base Dimensions
Hay = 0.0108*Pf;
Haz = 0.0142*Pf;
% Set the Cone Dimensions
DYDATA.ConeDimensions = [Hay, Haz];
% Cone Base Center (In Thorax Reference System)
DYDATA.ConeCentre = [-21.630343; -12.295269; -3.156106]/1000;
% The Glenohumeral joint center is defined to be to tip of the cone with
% the X-axis running from the GH joint center to the Cone Base center
GH = [0; 0; 0];
% Compute Reference Frame of Cone Base
Xaxis = GH - DYDATA.ConeCentre; Xaxis = Xaxis/norm(Xaxis);
Zaxis = [0; 0; 1]; Zaxis = Zaxis/norm(Zaxis);
Yaxis = cross(Zaxis, Xaxis); Yaxis = Yaxis/norm(Yaxis);
Zaxis = cross(Xaxis, Yaxis); Zaxis = Zaxis/norm(Zaxis);
% Construct the Rotation Matrix
DYDATA.Cone_Rb = [Xaxis, Yaxis, Zaxis];
% Number of cutting planes representing the cone
DYDATA.NbConstraints = 40;
return;
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