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modenaxemodenaxe
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rough version of test data
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‎_test_data/MFD_tests/Wrapping2.m‎

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% Trova le tangenti ai punti dati spostandoli in un riferimento col centro
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% della crf al centro degli assi. Quando non c'e' wrapping calcola la
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% distanza cmq tra i punti e mette come tangenti i punti iniziali. Infine
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% se i punti sono sulla crf non usa ottimizzazione ma identifica tangente
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% col punto.
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% lato = 1;% 1 dx o sotto---- -1 sx o sopra
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% problematico GA perche' sulla crf
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function [L,T1_glob,T2_glob,contact] = Wrapping2(centro_glob,R,P1,P2,lato,graphics)
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% lavoro sempre con circonferenza al centro degli assi: l'algoritmo è più
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% preciso.
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v1 = P1-centro_glob;
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v2 = P2-centro_glob;
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dist_P = v2-v1;
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if cross([1 0 0 ],[v1/norm(v1) 0])>0 == [0 0 1]
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% display('P1 sopra la circonferenza')
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else
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% display('P1 sotto la circonferenza')
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lato = lato*-1;
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end
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if cross([1 0 0 ],[v2/norm(v2) 0])<0 == [0 0 1]
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% display('P2 sotto la circonferenza')
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else
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% display('P2 sopra la circonferenza')
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end
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if cross([1 0 0 ],[v1/norm(v1) 0])>0 == [0 0 1] & cross([1 0 0 ],[v2/norm(v2) 0])>0 == [0 0 1]
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% display('P1 e P2 sopra la circonferenza')
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lato = lato*-1;
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end
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%direzione: se P1 è sopra P2:
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%-----> lato = 1 wrapping a dx
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%-----> lato = -1 wrapping a sx
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% se P1 e sotto P2 è il contrario
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%stima della distanza tra centro e vettore che unisce i punti (limit
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%condition)
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h = cross([-lato*v1,0],[dist_P,0]/norm([dist_P,0]));
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if h(3)>R
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% display(' '),display('NO WRAPPING!!!'),display(' ')
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L = norm([dist_P,0]);
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contact = 0;
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T1_glob = P1;
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T2_glob = P2;
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if strcmp(graphics,'on') == 1
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%grafica normalizzata
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% plot(v1(1), v1(2),'o'),plot(v2(1), v2(2),'o')
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% plot([v1(1),v2(1)], [v1(2),v2(2)],'g')
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%grafica globale
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t = 0:(2*pi)/300:2*pi;
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CRF = [R*cos(t'), R*sin(t')];
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plot(centro_glob(:,1)+CRF(:,1), centro_glob(:,2)+CRF(:,2),'k'),hold on
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plot([P1(1),P2(1)], [P1(2),P2(2)],'k')
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plot(P1(1), P1(2),'o','MarkerEdgeColor','k','MarkerFaceColor','w');
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plot(P2(1), P2(2),'o','MarkerEdgeColor','k','MarkerFaceColor','w')
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end
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return
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else
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% display(' '),display('WRAP!!!'),display(' ')
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contact = 1;
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end
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%% algorithm
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% pos punto tangenza + vettore tangente = pos_punto est
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%% tangente nel verso delle theta positive se lato = 1
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% l'algoritmo chiude OT1P1 in pratica
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dist1 = sqrt(norm(v1)^2-R^2);
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fun_min1= @(x) R*[cos(x) sin(x)]+lato*dist1*[-sin(x) cos(x)]-v1;
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options1=optimset('TolFun',10e-13,'TolX',10e-11);
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x0 = pi/4;
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[sol1,fval,exitflag] = fsolve(fun_min1,x0,options1);
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% retry with new initial point
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if exitflag == -2
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x0 = sol1;
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[sol1,fval,exitflag] = fsolve(fun_min1,x0,options1);
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end
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% if no solution then it doesn't work
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if exitflag == -2
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display('La tangente superiore non converge!!!')
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waitforbuttonpress
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end
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T1 = [R*cos(sol1), R*sin(sol1)];
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if(dist1<10e-6)
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T1 = v1;
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% display('PUNTO SULLA CRF');
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% waitforbuttonpress
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end
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%% tangente nel verso opposto al precedente
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% l'algoritmo chiude OT1P2 in pratica
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%tangente nel verso delle theta negative
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dist2 = sqrt(norm(v2)^2-R^2);
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fun_min2= @(x) R*[cos(x) sin(x)]-lato*dist2*[-sin(x) cos(x)]-v2;
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x0 = -pi/4;
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options2=optimset('TolFun',10e-11,'TolX',10e-11);
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[sol2,fval2,exitflag2] = fsolve(fun_min2,x0,options2);
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% retry with new initial point
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if exitflag2 == -2
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x0 = sol+20/180*pi;
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[sol2,fval2,exitflag2] = fsolve(fun_min2,x0,options2);
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end
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% if no solution then it doesn't work
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if exitflag2 == -2
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display('La tangente inferiore non converge!!!')
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waitforbuttonpress
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end
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T2 = [R*cos(sol2), R*sin(sol2)];
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if(dist2<10e-6)
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T2 = v2;
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% display('PUNTO SULLA CRF');
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% waitforbuttonpress
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end
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%% length mi fido
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% arco (archi minori di 180)
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L_arch = R*asin(norm(cross([T1/R,0], [T2/R,0])));
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if L_arch<0
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display('ARCO DI WRAPPING MINORE DI ZERO: FORSE WRAPPING NON CORRETTO?')
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waitforbuttonpress
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end
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%dist lineare
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Lin_vect1 = (v1-T1); L1 = hypot(Lin_vect1(:,1),Lin_vect1(:,2));
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Lin_vect2 = (v2-T2); L2 = hypot(Lin_vect2(:,1),Lin_vect2(:,2));
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%controllato GA e' affidabile nel wrapping
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% L1
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% L2
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% L_arch
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% waitforbuttonpress
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L = L1+L2+L_arch;
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%% points in global coordinates
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T1_glob = T1+centro_glob;
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T2_glob = T2+centro_glob;
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% local graphics of the wrapping in normalized coordinates
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%% grafica punti base
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if strcmp(graphics,'on') == 1
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%% grafica normalizzata (no casi di no wrapping)
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% t = 0:(2*pi)/300:2*pi;
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% CRF = [R*cos(t'), R*sin(t')];
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% line(CRF(:,1), CRF(:,2)),hold on
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% % punti esterni
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% plot(v1(1), v1(2),'o'),plot(v2(1), v2(2),'o')
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% axis equal
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% % tangenti
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% plot([v1(1),T1(1)], [v1(2),T1(2)],'r')
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% plot([v2(1),T2(1)], [v2(2),T2(2)])
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%% grafica globale (no casi di no wrapping)
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t = 0:(2*pi)/300:2*pi;
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CRF = [R*cos(t'), R*sin(t')];
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plot(centro_glob(:,1)+CRF(:,1), centro_glob(:,2)+CRF(:,2),'k'),hold on
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% punti esterni
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% tangenti
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plot([P1(1),T1_glob(1)], [P1(2),T1_glob(2)],'k');
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plot([P2(1),T2_glob(1)], [P2(2),T2_glob(2)],'k');
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plot(P1(1), P1(2),'o','MarkerEdgeColor','k','MarkerFaceColor','w');
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plot(P2(1), P2(2),'o','MarkerEdgeColor','k','MarkerFaceColor','w');
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axis equal
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end
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clc

‎_test_data/MFD_tests/dev1_Plugin_verification.m‎

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clear;clc;
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RotAngle = -90:2:90;
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GLOBAL_ANAT = importdata('GLOBAL_ANATOM_MuscleForceDirection_vectors.sto');
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LOCAL_ANAT = importdata('LOCAL_ANATOM_MuscleForceDirection_vectors.sto');
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GLOBAL_EFFECT = importdata('GLOBAL_EFFECT_MuscleForceDirection_vectors.sto');
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LOCAL_EFFECT = importdata('LOCAL_EFFECT_MuscleForceDirection_vectors.sto');
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%% Muscle 1: MuscleStraight
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%P1(0,0,0) in ground to P2(0.3, 0 ,0) in body1
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MUS1.v1_Global_Anat_Matlab = [cosd(RotAngle)', sind(RotAngle)',zeros(length(RotAngle),1)];
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% in the sto file, v1 = data(:,2:4) and v2 = -v1 = data(:,5:7)
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MUS1.v1_Global_Anat_OpenSim =GLOBAL_ANAT.data(:,2:4);
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MUS1.DiffGlobalAnat = MUS1.v1_Global_Anat_Matlab-MUS1.v1_Global_Anat_OpenSim;
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%% Muscle 2: MuscleViaPoint
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% Effective: the effective attachments of muscle 2 are the same as muscle 1
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v1_Global_Effect_Matlab = MUS1.v1_Global_Anat_Matlab;
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% in the sto file, v1 = data(:,8:10) and v2 = -v1 = data(:,11:13)
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v1_Global_Effect_OpenSim = GLOBAL_EFFECT.data(:,8:10);
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DiffGlobalEffect = v1_Global_Effect_Matlab-v1_Global_Effect_OpenSim;
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%% Muscle 3: MuscleWrap
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%P1(0.30000, 0.0 ,0.0) in ground to P2(-0.30000, 0.0 ,0.0)
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P1 = [0.30000*ones(length(RotAngle),1), 0.0*ones(length(RotAngle),1) ,0.0*ones(length(RotAngle),1)];
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P2 = -0.3*[cosd(RotAngle)', sind(RotAngle)',zeros(length(RotAngle),1)];
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% [L,T1_glob,T2_glob,contact] = Wrapping2([0 0 0]',0.05,P1,P2,1,'on')
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count = 0;
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for k =1:length(P1)
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[L(k,:),T1_glob(k,:),T2_glob(k,:),contact(k,:)] = Wrapping2([0 0 ],0.05,P1(k,1:2),P2(k,1:2),1,'on');
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v1(k,:) = (T1_glob(k,:)-P1(k,1:2))/norm(T1_glob(k,:)-P1(k,1:2));
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end
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v1_GlobalAnat = [v1, zeros(length(P1),1)];
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v1_GlobalAnat_OpenSim = GLOBAL_ANAT.data(:,14:16);
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v1_GlobalAnat-v1_GlobalAnat_OpenSim
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‎_test_data/MFD_tests/testKinematics_file.mot‎

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Results
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version=1
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nRows=91
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nColumns=2
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inDegrees=yes
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endheader
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time AngleRotation
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0 -90
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0.01 -88
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0.02 -86
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0.03 -84
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0.04 -82
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0.05 -80
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0.06 -78
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0.07 -76
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0.08 -74
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0.09 -72
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0.1 -70
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0.11 -68
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0.12 -66
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0.13 -64
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0.14 -62
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0.15 -60
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0.16 -58
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0.17 -56
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0.18 -54
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0.19 -52
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0.2 -50
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0.21 -48
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0.22 -46
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0.23 -44
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0.24 -42
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0.25 -40
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0.26 -38
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0.27 -36
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0.28 -34
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0.29 -32
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0.3 -30
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0.31 -28
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0.32 -26
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0.33 -24
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0.34 -22
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0.35 -20
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0.36 -18
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0.37 -16
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0.38 -14
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0.39 -12
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0.4 -10
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0.41 -8
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0.42 -6
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0.43 -4
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0.44 -2
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0.45 0
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0.46 2
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0.47 4
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0.48 6
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0.49 8
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0.5 10
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0.51 12
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0.52 14
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0.53 16
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0.54 18
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0.55 20
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0.56 22
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0.57 24
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0.58 26
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0.59 28
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0.6 30
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0.61 32
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0.62 34
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0.63 36
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0.64 38
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0.65 40
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0.66 42
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0.67 44
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0.68 46
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0.69 48
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0.7 50
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0.71 52
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0.72 54
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0.73 56
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0.74 58
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0.75 60
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0.76 62
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0.77 64
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0.78 66
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0.79 68
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0.8 70
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0.81 72
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0.82 74
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0.83 76
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0.84 78
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0.85 80
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0.86 82
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0.87 84
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0.88 86
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0.89 88
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0.9 90

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