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msm/ShoulderModel_NoElbow/TOOLBOX_Kinematics/KINEMATICS_TOOL_view_reconstructed-motion.m~
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KINEMATICS_TOOL_view_reconstructed-motion.m~
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%{
--------------------------------------------------------------------------
SCRIPT FOR RUNNING A VIDEO OF THE RECONSTRUCTED MOTION TOGETHER WITH THE
MEASURED MOTION (IN BLUE AND GREEN)
--------------------------------------------------------------------------
%}
%--------------------------------------------------------------------------
% define where to show the motion
%--------------------------------------------------------------------------
set(KRHandle, 'currentaxes', KRPlotHandles.View_Motion_Axes); hold on;
%--------------------------------------------------------------------------
% define the bony landmarks
%--------------------------------------------------------------------------
% run through the motion while skipping some points.
for i = 1:length(SSDATA.Measured_Kinematics.IJ)
%--------------------------------------------------------------------------
% define the wireframe of the reconstructed motion
%--------------------------------------------------------------------------
% define the generalized coordinate vector
q = SSDATA.Joint_Angle_Reconstruction(:,i);
% define the rotation matrices from the generalized coordinates vector (Euler angles)
Rmat = MAIN_TOOL_geometry_functions('Build Rotation Matrices From Euler Angles', q, BLDATA);
Rc = Rmat(:,1:3);
Rs = Rmat(:,4:6);
Rh = Rmat(:,7:9);
Ru = Rmat(:,10:12);
Rr = Rmat(:,13:15);
% Get Initial Rotation Matrices
Rc_initial = BLDATA.Initial_Matrices_L2A.Rc;
Rs_initial = BLDATA.Initial_Matrices_L2A.Rs;
Rh_initial = BLDATA.Initial_Matrices_L2A.Rh;
Ru_initial = BLDATA.Initial_Matrices_L2A.Ru;
Rr_initial = BLDATA.Initial_Matrices_L2A.Rr;
% Get all initial configurations of the landmarks
IJ_initial = BLDATA.Initial_Points.IJ;
PX_initial = BLDATA.Initial_Points.PX;
T8_initial = BLDATA.Initial_Points.T8;
C7_initial = BLDATA.Initial_Points.C7;
SC_initial = BLDATA.Initial_Points.SC;
AC_initial = BLDATA.Initial_Points.AC;
AA_initial = BLDATA.Initial_Points.AA;
TS_initial = BLDATA.Initial_Points.TS;
AI_initial = BLDATA.Initial_Points.AI;
GH_initial = BLDATA.Initial_Points.GH;
HU_initial = BLDATA.Initial_Points.HU;
EL_initial = BLDATA.Initial_Points.EL;
EM_initial = BLDATA.Initial_Points.EM;
CP_initial = BLDATA.Initial_Points.CP;
US_initial = BLDATA.Initial_Points.US;
RS_initial = BLDATA.Initial_Points.RS;
% define the configurations of the landmarks
IJ = IJ_initial;
PX = PX_initial;
T8 = T8_initial;
C7 = C7_initial;
SC = SC_initial;
AC = Rc*Rc_initial'*(AC_initial - SC_initial) + SC_initial;
AA = Rs*Rs_initial'*(AA_initial - AC_initial) + AC;
TS = Rs*Rs_initial'*(TS_initial - AC_initial) + AC;
AI = Rs*Rs_initial'*(AI_initial - AC_initial) + AC;
GH = Rs*Rs_initial'*(GH_initial - AC_initial) + AC;
HU = Rh*Rh_initial'*(HU_initial - GH_initial) + GH;
EL = Rh*Rh_initial'*(EL_initial - GH_initial) + GH;
EM = Rh*Rh_initial'*(EM_initial - GH_initial) + GH;
US = Ru*Ru_initial'*(US_initial - HU_initial) + HU;
CP = Rh*Rh_initial'*(CP_initial - GH_initial) + GH;
RS = Rr*Rr_initial'*(RS_initial - CP_initial) + CP;
% Build the bone wire frames for plotting purposes
Reconstructed_WF_Thorax_ = [IJ, PX, T8, C7, IJ];
Reconstructed_WF_Clavicula = [SC, AC];
Reconstructed_WF_Scapula = [AC, AA, TS, AI, GH, AC];
BReconstructed_WF_Humerus = [GH, HU, EL, EM];
Reconstructed_WF_Ulna = [CP, HU, EM, US];
Reconstructed_WF_Radius = [CP, RS];
%--------------------------------------------------------------------------
% define the wireframe of the measured motion
%--------------------------------------------------------------------------
Measured_WF_Thorax_ = [SSDATA.Measured_Kinematics.IJ(:,i),...
SSDATA.Measured_Kinematics.PX(:,i),...
SSDATA.Measured_Kinematics.T8(:,i),...
SSDATA.Measured_Kinematics.C7(:,i),...
SSDATA.Measured_Kinematics.IJ(:,i)];
Measured_WF_Clavicula = [SSDATA.Measured_Kinematics.SC(:,i),...
SSDATA.Measured_Kinematics.AC(:,i)];
Measured_WF_Scapula = [SSDATA.Measured_Kinematics.AC(:,i),...
SSDATA.Measured_Kinematics.AA(:,i),...
SSDATA.Measured_Kinematics.TS(:,i),...
SSDATA.Measured_Kinematics.AI(:,i),...
SSDATA.Measured_Kinematics.GH(:,i),...
SSDATA.Measured_Kinematics.AC(:,i)];
Measured_WF_Humerus = [SSDATA.Measured_Kinematics.GH(:,i),...
SSDATA.Measured_Kinematics.HU(:,i),...
SSDATA.Measured_Kinematics.EL(:,i),...
SSDATA.Measured_Kinematics.EM(:,i)];
Measured_WF_Ulna = [SSDATA.Measured_Kinematics.CP,...
SSDATA.Measured_Kinematics.HU, EM, US];
Measured_WF_Radius = [CP, RS];
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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