/// <summary>
/// Evaluate an exercise step
/// </summary>
/// <param name="exerciseStep">The performed step</param>
/// <param name="idealExerciseStep">Optional, required if no training set was provided</param>
/// <returns></returns>
public EvaluationResults EvaluateExerciseStep(ExerciseStep exerciseStep, ExerciseStep idealExerciseStep = null)
{
bool niceWork = true;
ArticolationError[] stepEvaluationResults = _exerciseEvaluator.EvaluateExerciseStep(ExerciseTollerance, exerciseStep, idealExerciseStep);
if (ExerciseTollerance != null)
{
for (int i = 0; i < stepEvaluationResults.Length; i++)
{
ArticolationError error = stepEvaluationResults[i];
niceWork &= error.Position.IsMagnitudeCorrect && error.Position.IsSpeedCorrect &&
error.Angle.IsSpeedCorrect && error.Angle.IsMagnitudeCorrect;
}
}
return(new EvaluationResults(niceWork, stepEvaluationResults));
}
private void CalculateSpeedErrors(ArticolationError articolationError,
ArticolationPoint currentArticolationPoint, ArticolationPoint previousArticolationPoint,
ArticolationPoint currentIdealArticolationPoint, ArticolationPoint previousIdealArticolationPoint)
{
if (previousIdealArticolationPoint != null && previousArticolationPoint != null)
{
articolationError.Position.Speed = CalculateSpeedError(
currentIdealArticolationPoint.Position, previousIdealArticolationPoint.Position,
currentArticolationPoint.Position, previousArticolationPoint.Position,
_trainingSet.timing);
articolationError.Angle.Speed = CalculateSpeedError(
currentIdealArticolationPoint.Angle, previousIdealArticolationPoint.Angle,
currentArticolationPoint.Angle, previousArticolationPoint.Angle,
_trainingSet.timing);
}
else
{
articolationError.Position.Speed = Vector3.zero;
articolationError.Angle.Speed = Vector3.zero;
}
}
/// <summary>
///
/// </summary>
/// <param name="tollerances"></param>
/// <param name="currentStep"></param>
/// <param name="idealExerciseStep"></param>
/// <returns></returns>
public ArticolationError[] EvaluateExerciseStep(ArticolationTollerance[] tollerances, ExerciseStep currentStep, ExerciseStep idealExerciseStep = null)
{
// check abiity to evaluate the step
if (_isRealTimeSampling && idealExerciseStep == null)
{
throw new Exception("Unable to evaluate exercise step without ideal sample or a training set!");
}
PerformedMovementSteps.Add(currentStep);
// eventually keep training the ai (doing this all the following code is the same in both cases)
if (idealExerciseStep != null)
{
_trainingSet.idealMovementSteps.Add(idealExerciseStep);
}
ExerciseStep previousStep = GetPerformedStep(-1),
currentIdealStep = GetIdealStep(0),
previousIdealStep = GetIdealStep(-1);
if (currentIdealStep == null)
{
int lastStepIndex = _trainingSet.idealMovementSteps.Count - 1;
currentIdealStep = _trainingSet.idealMovementSteps[lastStepIndex];
previousIdealStep = _trainingSet.idealMovementSteps[lastStepIndex - 1];
}
List <ArticolationError> articolationErrors = new List <ArticolationError>();
ArticolationPoint currentStepArticolationPoint = currentStep.Root,
previousStepArticolationPoint = previousStep == null ? null : previousStep.Root,
currentStepIdealArticolationPoint = currentIdealStep.Root,
previousStepIdealArticolationPoint = previousIdealStep == null ? null : previousIdealStep.Root;
int i = 0;
while (currentStepArticolationPoint != null)
{
ArticolationError articolationError = new ArticolationError();
ArticolationTollerance tollerance = tollerances[i++];
articolationError.Position.Magnitude = currentStepIdealArticolationPoint.Position - currentStepArticolationPoint.Position;
Debug.Log("Articolation [" + i + "]");
Debug.Log("ideal position (" +
currentStepIdealArticolationPoint.Position.x + ", " + currentStepIdealArticolationPoint.Position.y + ", " + currentStepIdealArticolationPoint.Position.z + ")"
);
Debug.Log("real position (" +
currentStepArticolationPoint.Position.x + ", " + currentStepArticolationPoint.Position.y + ", " + currentStepArticolationPoint.Position.z + ")"
);
articolationError.Position.IsMagnitudeCorrect = articolationError.Position.Magnitude.magnitude < tollerance.positionTolleranceRadius;
articolationError.Angle.Magnitude = currentStepIdealArticolationPoint.Angle - currentStepArticolationPoint.Angle;
articolationError.Angle.IsMagnitudeCorrect = articolationError.Angle.Magnitude.magnitude < tollerance.rotationTolleranceRadius;
CalculateSpeedErrors(articolationError, currentStepArticolationPoint, previousStepArticolationPoint, currentStepIdealArticolationPoint, previousStepIdealArticolationPoint);
articolationError.Position.IsSpeedCorrect = articolationError.Position.Speed.magnitude < tollerance.positionSpeedTolleranceRadius;
articolationError.Angle.IsSpeedCorrect = articolationError.Angle.Speed.magnitude < tollerance.positionSpeedTolleranceRadius;
articolationErrors.Add(articolationError);
currentStepArticolationPoint = currentStepArticolationPoint.Substaining;
previousStepArticolationPoint = previousStepArticolationPoint == null ? null : previousStepArticolationPoint.Substaining;
currentStepIdealArticolationPoint = currentStepIdealArticolationPoint.Substaining;
previousStepIdealArticolationPoint = previousStepIdealArticolationPoint == null ? null : previousStepIdealArticolationPoint.Substaining;
}
return(articolationErrors.ToArray());
}
private void CreateAI()
{
Sensor shoulderSensor = new Sensor(shoulder, shoulderTollerance, "spalla");
Sensor elbowSensor = new Sensor(elbow, elbowTollerance, "gomito");
Sensor handSensor = new Sensor(hand, handTollerance, "mano");
LimbConfiguration config = new LimbConfiguration(shoulderSensor, elbowSensor, handSensor);
// check that there is the ghost
if (sampleRecorder.trackersPreview.Count != 3)
{
throw new System.Exception("Ghost non correttamente configurato");
}
LimbConfiguration ghostConfig = new LimbConfiguration(new Sensor(sampleRecorder.trackersPreview[0]), new Sensor(sampleRecorder.trackersPreview[1]), new Sensor(sampleRecorder.trackersPreview[2]));
exerciseConfiguration = new ExerciseConfiguration(
config,
(EvaluationResults results) =>
{
AIProxy aiProxy = new AIProxy(); // should be taken from context
List <string> articolationNames = new List <string>()
{
"spalla", "gomito", "mano"
};
foreach (string articolationName in articolationNames)
{
ArticolationError error = aiProxy.UnwrapFromResults(articolationName, results, articolationNames);
bool isPositionCorrect = error.Position.IsSpeedCorrect && error.Position.IsMagnitudeCorrect,
isRotationCorrect = error.Angle.IsSpeedCorrect && error.Angle.IsMagnitudeCorrect;
Debug.Log(articolationName + ": POSITION IS CORRECT - " + isPositionCorrect.ToString()
+ " # ROTATION IS CORRECT - " + isRotationCorrect.ToString());
GameObject trackerOb;
string nameID = "";
switch (articolationName)
{
case "spalla":
nameID = "Shoulder";
trackerOb = shoulder;
break;
case "gomito":
nameID = "Elbow";
trackerOb = elbow;
break;
case "mano":
nameID = "Wrist";
trackerOb = hand;
break;
default:
trackerOb = hand;
break;
}
//Genera evento con risultati AI -> contesto
SendResult(nameID, isPositionCorrect);
if (isPositionCorrect)
{
trackerOb.GetComponent <MeshRenderer>().material.color = Color.green;
}
else
{
trackerOb.GetComponent <MeshRenderer>().material.color = Color.red;
}
}
},
ghostConfig
);
VirtualPhysioterphyst.Instance.ExerciseSetup(exerciseConfiguration);
}
