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msm/ShoulderModel_NoElbow/TOOLBOX_Kinematics/KINEMATICS_TOOL_view_motion_script.m
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KINEMATICS_TOOL_view_motion_script.m
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%--------------------------------------------------------------------------
%
%
% GUI FOR RUNNING A VIDEO OF THE MOTION
%--------------------------------------------------------------------------
%
% File Structure :
% This script generates a small GUI of the motion.
%
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% CREATE THE FIGURE
%--------------------------------------------------------------------------
MOVHandle = figure(...
'color', 'white',...
'units', 'normalized',...
'position', [0.1, 0.1, 0.4, 0.8],...
'toolbar', 'figure',...
'name', 'EPFL - LBO Upper Extremity Model: Motion Visualization');
%--------------------------------------------------------------------------
% CREATE THE CLOSE & DELETE SCRIPT
%--------------------------------------------------------------------------
CScript = [...
'clear MOVGUIHandle;',...
'clear MOVPlotHandles;',...
'clear MovieVisualisationAxes;',...
'clear SC AC AA TS AI GH HU EL EM US CP RS;',...
'clear Rc Rs Rh Ru Rr;',...
'close gcf;',...
'clear MOVHandle;',...
'clear Rmat RScript;'];
%--------------------------------------------------------------------------
% CREATE THE CLOSE PUSHBUTTON
%--------------------------------------------------------------------------
MOVGUIHandle.Close_Button = uicontrol(...
'units', 'normalized',...
'position', [0.35, 0, 0.3, 0.05],...
'style', 'pushbutton',...
'string', 'CLOSE FIGURE',...
'fontsize', 14,...
'fontweight', 'bold',...
'callback', CScript);
%--------------------------------------------------------------------------
% CREATE THE RUN VIDEO CALLBACK SCRIPT
%--------------------------------------------------------------------------
RScript = [...
'for i = 1:3:size(KEDATA.Point_Evolution.AI,2)',...
'SC = KEDATA.Point_Evolution.SC(:,i);',...
'AC = KEDATA.Point_Evolution.AC(:,i);',...
'AA = KEDATA.Point_Evolution.AA(:,i);',...
'TS = KEDATA.Point_Evolution.TS(:,i);',...
'AI = KEDATA.Point_Evolution.AI(:,i);',...
'GH = KEDATA.Point_Evolution.GH(:,i);',...
'HU = KEDATA.Point_Evolution.HU(:,i);',...
'EL = KEDATA.Point_Evolution.EL(:,i);',...
'EM = KEDATA.Point_Evolution.EM(:,i);',...
'US = KEDATA.Point_Evolution.US(:,i);',...
'CP = KEDATA.Point_Evolution.CP(:,i);',...
'RS = KEDATA.Point_Evolution.RS(:,i);',...
'Rmat = MAIN_TOOL_geometry_functions(''Build Rotation Matrices From Euler Angles'', KEDATA.Joint_Angle_Evolution(:,i), BLDATA'');',...
'Rc = Rmat(:,1:3);',...
'Rs = Rmat(:,4:6);',...
'Rh = Rmat(:,7:9);',...
'Ru = Rmat(:,10:12);',...
'Rr = Rmat(:,13:15);',...
'BLDATA.Current_Points.IJ = BLDATA.Initial_Points.IJ;',...
'BLDATA.Current_Points.PX = BLDATA.Initial_Points.PX;',...
'BLDATA.Current_Points.T8 = BLDATA.Initial_Points.T8;',...
'BLDATA.Current_Points.C7 = BLDATA.Initial_Points.C7;',...
'BLDATA.Current_Points.SC = SC;',...
'BLDATA.Current_Points.AC = AC;',...
'BLDATA.Current_Points.GH = GH;',...
'BLDATA.Current_Points.HU = HU;',...
'BLDATA.Current_Points.TS = TS;',...
'BLDATA.Current_Points.AI = AI;',...
'BLDATA.Current_Points.AA = AA;',...
'BLDATA.Current_Points.EL = EL;',...
'BLDATA.Current_Points.EM = EM;',...
'BLDATA.Current_Points.US = US;',...
'BLDATA.Current_Points.CP = CP;',...
'BLDATA.Current_Points.RS = RS;',...
'BLDATA.Current_WFBones.Thorax = BLDATA.Initial_WFBones.Thorax;',...
'BLDATA.Current_WFBones.Clavicula = [SC, AC];',...
'BLDATA.Current_WFBones.Scapula = [AC, AA, TS, AI, GH, AC];',...
'BLDATA.Current_WFBones.Humerus = [GH, HU, EL, EM];',...
'BLDATA.Current_WFBones.Medial = [AC, AA, TS, AI];',...
'BLDATA.Current_WFBones.Ulna = [CP, HU, EM, US];',...
'BLDATA.Current_WFBones.Radius = [CP, RS];',...
'BLDATA.Current_Matrices_L2A.Rc = Rc;',...
'BLDATA.Current_Matrices_L2A.Rs = Rs;',...
'BLDATA.Current_Matrices_L2A.Rh = Rh;',...
'BLDATA.Current_Matrices_L2A.Ru = Ru;',...
'BLDATA.Current_Matrices_L2A.Rr = Rr;',...
'MOVPlotHandles.MeshHandle(1) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(1), MEDATA, 0, BLDATA);',...
'MOVPlotHandles.MeshHandle(2) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(2), MEDATA, 1, BLDATA);',...
'MOVPlotHandles.MeshHandle(3) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(3), MEDATA, 2, BLDATA);',...
'MOVPlotHandles.MeshHandle(4) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(4), MEDATA, 3, BLDATA);',...
'MOVPlotHandles.MeshHandle(5) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(5), MEDATA, 4, BLDATA);',...
'MOVPlotHandles.MeshHandle(6) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(6), MEDATA, 5, BLDATA);',...
'MOVPlotHandles.MeshHandle(7) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(7), MEDATA, 6, BLDATA);',...
'MOVPlotHandles.WireFrameHandle(1) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(1), 0, BLDATA);',...
'MOVPlotHandles.WireFrameHandle(2) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(2), 1, BLDATA);',...
'MOVPlotHandles.WireFrameHandle(3) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(3), 2, BLDATA);',...
'MOVPlotHandles.WireFrameHandle(4) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(4), 3, BLDATA);',...
'MOVPlotHandles.WireFrameHandle(5) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(5), 4, BLDATA);',...
'MOVPlotHandles.WireFrameHandle(6) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(6), 5, BLDATA);',...
'drawnow;',...
'end'];
%--------------------------------------------------------------------------
% CREATE THE RUN VIDEO PUSHBUTTON
%--------------------------------------------------------------------------
MOVGUIHandle.Close_Button = uicontrol(...
'units', 'normalized',...
'position', [0.65, 0, 0.3, 0.05],...
'style', 'pushbutton',...
'string', 'REPLAY MOTION',...
'fontsize', 14,...
'fontweight', 'bold',...
'callback', RScript);
%--------------------------------------------------------------------------
% CREATE THE VIDEO AXES
%--------------------------------------------------------------------------
MovieVisualisationAxes = axes(...
'units', 'normalized',...
'position', [0.05, 0.05, 0.9, 0.9]);
%--------------------------------------------------------------------------
% INITIALISATION SCRIPT
%--------------------------------------------------------------------------
set(MOVHandle, 'currentaxes', MovieVisualisationAxes); hold on;
% Set the correct current bony landmarks
Rmat = MAIN_TOOL_geometry_functions('Build Rotation Matrices From Euler Angles', KEDATA.Joint_Angle_Evolution(:,1), BLDATA);
BLDATA = MAIN_TOOL_geometry_functions('Update Initial Bony Landmark Data from Joint Rotation Matrices', Rmat(:,1:3), Rmat(:,4:6), Rmat(:,7:9), Rmat(:,10:12), Rmat(:,13:15), BLDATA);
% Create the 3-D Meshing Visualisations
MOVPlotHandles.MeshHandle(1) = VISUALISATION_view_bone_meshing([], MEDATA, 0, BLDATA);
MOVPlotHandles.MeshHandle(2) = VISUALISATION_view_bone_meshing([], MEDATA, 1, BLDATA);
MOVPlotHandles.MeshHandle(3) = VISUALISATION_view_bone_meshing([], MEDATA, 2, BLDATA);
MOVPlotHandles.MeshHandle(4) = VISUALISATION_view_bone_meshing([], MEDATA, 3, BLDATA);
MOVPlotHandles.MeshHandle(5) = VISUALISATION_view_bone_meshing([], MEDATA, 4, BLDATA);
MOVPlotHandles.MeshHandle(6) = VISUALISATION_view_bone_meshing([], MEDATA, 5, BLDATA);
MOVPlotHandles.MeshHandle(7) = VISUALISATION_view_bone_meshing([], MEDATA, 6, BLDATA);
% Create the 3-D Wire Frame Visualisations
MOVPlotHandles.WireFrameHandle(1) = VISUALISATION_view_bone_wireframe([], 0, BLDATA);
MOVPlotHandles.WireFrameHandle(2) = VISUALISATION_view_bone_wireframe([], 1, BLDATA);
MOVPlotHandles.WireFrameHandle(3) = VISUALISATION_view_bone_wireframe([], 2, BLDATA);
MOVPlotHandles.WireFrameHandle(4) = VISUALISATION_view_bone_wireframe([], 3, BLDATA);
MOVPlotHandles.WireFrameHandle(5) = VISUALISATION_view_bone_wireframe([], 4, BLDATA);
MOVPlotHandles.WireFrameHandle(6) = VISUALISATION_view_bone_wireframe([], 5, BLDATA);
% Set some of the global properties for the entire plot
light('Position',[1 0 0],'Style','infinite');
light('Position',[0 0 -10],'Style','local');
light('Position',[10 -50 0],'Style','infinite');
colormap copper;
box on;
material dull;
%axis equal;
axis ([-100 800 -200 800 -800 800])
%zoom(1);
view([165, 15]);
% Run through the motion while skipping some points.
% (This is a copy of the callback script defined above)
for i = 1:3:size(KEDATA.Point_Evolution.AI,2)
% Build the Current Bony Landmark Positions
SC = KEDATA.Point_Evolution.SC(:,i);
AC = KEDATA.Point_Evolution.AC(:,i);
AA = KEDATA.Point_Evolution.AA(:,i);
TS = KEDATA.Point_Evolution.TS(:,i);
AI = KEDATA.Point_Evolution.AI(:,i);
GH = KEDATA.Point_Evolution.GH(:,i);
HU = KEDATA.Point_Evolution.HU(:,i);
EL = KEDATA.Point_Evolution.EL(:,i);
EM = KEDATA.Point_Evolution.EM(:,i);
US = KEDATA.Point_Evolution.US(:,i);
CP = KEDATA.Point_Evolution.CP(:,i);
RS = KEDATA.Point_Evolution.RS(:,i);
Rmat = MAIN_TOOL_geometry_functions('Build Rotation Matrices From Euler Angles', KEDATA.Joint_Angle_Evolution(:,i)', BLDATA);
Rc = Rmat(:,1:3);
Rs = Rmat(:,4:6);
Rh = Rmat(:,7:9);
Ru = Rmat(:,10:12);
Rr = Rmat(:,13:15);
% List of Points in the current configuration
BLDATA.Current_Points.IJ = BLDATA.Initial_Points.IJ;
BLDATA.Current_Points.PX = BLDATA.Initial_Points.PX;
BLDATA.Current_Points.T8 = BLDATA.Initial_Points.T8;
BLDATA.Current_Points.C7 = BLDATA.Initial_Points.C7;
BLDATA.Current_Points.SC = SC;
BLDATA.Current_Points.AC = AC;
BLDATA.Current_Points.GH = GH;
BLDATA.Current_Points.HU = HU;
BLDATA.Current_Points.TS = TS;
BLDATA.Current_Points.AI = AI;
BLDATA.Current_Points.AA = AA;
BLDATA.Current_Points.EL = EL;
BLDATA.Current_Points.EM = EM;
BLDATA.Current_Points.US = US;
BLDATA.Current_Points.CP = CP;
BLDATA.Current_Points.RS = RS;
% Build the bone wire frames for plotting purposes
BLDATA.Current_WFBones.Thorax = BLDATA.Initial_WFBones.Thorax;
BLDATA.Current_WFBones.Clavicula = [SC, AC];
BLDATA.Current_WFBones.Scapula = [AC, AA, TS, AI, GH, AC];
BLDATA.Current_WFBones.Humerus = [GH, HU, EL, EM];
BLDATA.Current_WFBones.Medial = [AC, AA, TS, AI];
BLDATA.Current_WFBones.Ulna = [CP, HU, EM, US];
BLDATA.Current_WFBones.Radius = [CP, RS];
% Current Rotation Matrices
BLDATA.Current_Matrices_L2A.Rc = Rc;
BLDATA.Current_Matrices_L2A.Rs = Rs;
BLDATA.Current_Matrices_L2A.Rh = Rh;
BLDATA.Current_Matrices_L2A.Ru = Ru;
BLDATA.Current_Matrices_L2A.Rr = Rr;
MOVPlotHandles.MeshHandle(1) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(1), MEDATA, 0, BLDATA);
MOVPlotHandles.MeshHandle(2) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(2), MEDATA, 1, BLDATA);
MOVPlotHandles.MeshHandle(3) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(3), MEDATA, 2, BLDATA);
MOVPlotHandles.MeshHandle(4) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(4), MEDATA, 3, BLDATA);
MOVPlotHandles.MeshHandle(5) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(5), MEDATA, 4, BLDATA);
MOVPlotHandles.MeshHandle(6) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(6), MEDATA, 5, BLDATA);
MOVPlotHandles.MeshHandle(7) = VISUALISATION_view_bone_meshing(MOVPlotHandles.MeshHandle(7), MEDATA, 6, BLDATA);
% Create the 3-D Wire Frame Visualisations
MOVPlotHandles.WireFrameHandle(1) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(1), 0, BLDATA);
MOVPlotHandles.WireFrameHandle(2) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(2), 1, BLDATA);
MOVPlotHandles.WireFrameHandle(3) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(3), 2, BLDATA);
MOVPlotHandles.WireFrameHandle(4) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(4), 3, BLDATA);
MOVPlotHandles.WireFrameHandle(5) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(5), 4, BLDATA);
MOVPlotHandles.WireFrameHandle(6) = VISUALISATION_view_bone_wireframe(MOVPlotHandles.WireFrameHandle(6), 5, BLDATA);
drawnow;
end
% Clear some variables
clear SC AC AA TS AI GH HU EL EM US RS CP Rmat Rc Rs Rh Ru Rr;
% When Motion is over, reset the current BLDATA to initial
% Get the Current Rotation Matrices
Rmat = MAIN_TOOL_geometry_functions('Build Rotation Matrices From Euler Angles', KEDATA.Joint_Angle_Evolution(:,1), BLDATA);
% Update the current configuration
BLDATA = MAIN_TOOL_geometry_functions(...
'Update Current Bony Landmark Data from Joint Rotation Matrices', Rmat(:,1:3), Rmat(:,4:6), Rmat(:,7:9), Rmat(:,10:12), Rmat(:,13:15), BLDATA);
clear Rmat i;
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