load_collar_calibs.cpp File Reference

Load Calibrated Collar Data: More...

#include "lowerleg_func.h"
#include "postprocess.h"

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Defines
#define	MAXCOL   10
Functions
int	load_collar_calibs (char *foldername, vector< vector< double > > &Hprev, vector< vector< double > > &Pvals, vector< vector< double > > &qvals, vector< double > &firstlink, vector< vector< double > > &Plate)
	Load Calibrated Collar Data: This function loads the information regarding calibrated collars into vectors for use in postprocessing.

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Detailed Description

Load Calibrated Collar Data:

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Define Documentation

#define MAXCOL   10

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Function Documentation

int load_collar_calibs	(	char *	foldername,
		vector< vector< double > > &	Hprev,
		vector< vector< double > > &	Pvals,
		vector< vector< double > > &	qvals,
		vector< double > &	firstlink,
		vector< vector< double > > &	Plate
	)

Load Calibrated Collar Data: This function loads the information regarding calibrated collars into vectors for use in postprocessing.

The function takes in the name of the folder containing all the calibration information ie DH matrices, local plate based co-ordinate system information, obtained from the calculations done according to the methods described in the IFToMM paper.

The calibration files are all assumed to be stored under "/user/mharshe/home/work/knee-joint/collar-calib/". Separate sub-folders exist for tibia-upper, tibia-lower, thigh-upper, thigh-lower etc collars. Further sub-folders contain calibration data for specific LINK order (other than the default one). The program needs the name of this specific sub-folder corresponding to the actual LINK order as input. (The rest of the path is added automatically.)

Parameters:

[in]	foldername	Name of the folder containing calibration data.
[out]	Hprev	Vector containing DH (Hayati formulation) parameters
[out]	Pvals	Co-ordinate of the orgin of plates with respect to DH frame of the plate
[out]	qvals	Quaternion describing orientation of plate-fixed local frame with respect to DH frame of the plate.
[out]	firstlink	Parameters for the first link.

The data read from the files is stored as vectors.