This checks to see if the angular rates computed from Ton's inverse dynamics are the same as those computed with a simple numerical differentiation of the angles.
import sys
sys.path.append('..')
import numpy as np
from gaitanalysis.controlid import SimpleControlSolver
from src import utils
from src.grf_landmark_settings import settings
%matplotlib inline
from IPython.core.pylabtools import figsize
figsize(10, 8)
trials_dir = utils.trial_data_dir()
Trials data directory is set to /home/moorepants/Data/human-gait/gait-control-identification
trial_number = '068'
event_data_frame, meta_data, event_data_path = utils.write_event_data_frame_to_disk(trial_number)
Trials data directory is set to /home/moorepants/Data/human-gait/gait-control-identification Temporary data directory is set to ../data Loading pre-cleaned data: ../data/cleaned-data-068-longitudinal-perturbation.h5 0.11 s
walking_data, walking_data_path = \
utils.write_inverse_dynamics_to_disk(event_data_frame, meta_data, event_data_path)
Loading pre-computed inverse dynamics from ../data/walking-data-068-longitudinal-perturbation.h5. 0.08 s
sensors, controls = utils.load_sensors_and_controls()
angles = [s for s in sensors if '.Angle' in s]
rates = [s for s in sensors if '.Rate' in s]
numerical_rates = [s + '.Numerical' for s in rates]
walking_data.time_derivative(angles, numerical_rates)
for one, two in zip(rates, numerical_rates):
axes = walking_data.raw_data[[one, two]].iloc[:500].plot()
!git rev-parse HEAD
7ba68f0160c23a61204291ca107ad570ac6f6e5a
!git --git-dir=/home/moorepants/src/Gait-Analysis-Toolkit/.git --work-tree=/home/moorepants/src/Gait-Analysis-Toolkit rev-parse HEAD
fatal: Not a git repository: '/home/moorepants/src/Gait-Analysis-Toolkit/.git'
%install_ext http://raw.github.com/jrjohansson/version_information/master/version_information.py
Installed version_information.py. To use it, type: %load_ext version_information
%load_ext version_information
%version_information gaitanalysis, numpy, scipy, pandas, matplotlib, tables, oct2py
Software | Version |
---|---|
Python | 2.7.8 64bit [GCC 4.4.7 20120313 (Red Hat 4.4.7-1)] |
IPython | 2.3.0 |
OS | Linux 3.13.0 37 generic x86_64 with debian jessie sid |
gaitanalysis | 0.1.0dev |
numpy | 1.8.2 |
scipy | 0.14.0 |
pandas | 0.12.0 |
matplotlib | 1.4.0 |
tables | 3.1.1 |
oct2py | 2.4.0 |
Fri Oct 17 11:54:30 2014 EDT |
!pip freeze
DynamicistToolKit==0.3.5 -e git+git@github.com:csu-hmc/GaitAnalysisToolKit.git@a3732352747bc03ca839df9ff02ddcbd889e636d#egg=GaitAnalysisToolKit-origin/HEAD Jinja2==2.7.2 MarkupSafe==0.18 PyYAML==3.11 backports.ssl-match-hostname==3.4.0.2 ipython==2.3.0 matplotlib==1.4.0 numexpr==2.3.1 numpy==1.8.2 oct2py==2.4.0 pandas==0.12.0 patsy==0.3.0 pyparsing==2.0.1 python-dateutil==1.5 pytz==2014.7 pyzmq==14.3.0 scipy==0.14.0 six==1.8.0 statsmodels==0.5.0 tables==3.1.1 tornado==3.2.1 uncertainties==2.4.6.1 wsgiref==0.1.2