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msm_ul/ShoulderModel/TOOLBOX_Kinematics/KINEMATICS_TOOL_compute_kinematics.m
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KINEMATICS_TOOL_compute_kinematics.m
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function [jea, djeadt, d2jeadt2, xdata] = KINEMATICS_TOOL_compute_kinematics(AngleId, KEDATA)
% function for building the kinematics of a given motion
%--------------------------------------------------------------------------
% Syntax :
% [jea, djeadt, d2jeadt2, xdata] = KINEMATICS_TOOL_compute_kinematics(AngleId, KEDATA)
%--------------------------------------------------------------------------
%
%
% File Description :
% This function generates the kinematics for one of the joint angles. Used
% when a graph in the kinematics tool gui is clicked on.
%--------------------------------------------------------------------------
% Define the Time Vector
t = linspace(0, 1, size(KEDATA.Joint_Angle_Evolution, 2));
% Compute the Velocity and Acceleration
djeat = zeros(1,size(KEDATA.Joint_Angle_Evolution, 2)-1);
d2jeadt2 = zeros(1,size(KEDATA.Joint_Angle_Evolution, 2)-2);
% Run through the motion
for TimeId = 1:size(KEDATA.Joint_Angle_Evolution, 2)-1
% Compute Velocity
djeadt(1,TimeId) = (KEDATA.Joint_Angle_Evolution(AngleId,TimeId+1) - KEDATA.Joint_Angle_Evolution(AngleId, TimeId))/(t(1,TimeId+1) - t(1,TimeId));
% Compute Acceleration
if TimeId < size(KEDATA.Joint_Angle_Evolution, 2)-1
d2jeadt2(1,TimeId) = (KEDATA.Joint_Angle_Evolution(AngleId,TimeId+2) - 2*KEDATA.Joint_Angle_Evolution(AngleId, TimeId+1) + KEDATA.Joint_Angle_Evolution(AngleId, TimeId))/((t(1,TimeId+2) - t(1,TimeId+1))*(t(1,TimeId+1) - t(1,TimeId)));
else
end
end
% Define the outputs
jea = KEDATA.Joint_Angle_Evolution(AngleId,:)*180/pi;
djeadt = djeadt*180/pi;
d2jeadt2 = d2jeadt2*180/pi;
% The humeral abduction angle
xdata = KEDATA.Joint_Angle_Evolution(8,:)*180/pi;
return;
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