public FrequencyStats(Trajectory trajectory, bool useSlope = false)
{
var xList = (useSlope) ? trajectory.slopes.Select(p => p.x).ToArray() : trajectory.points.Select(p => p.x).ToArray();
var zList = (useSlope) ? trajectory.slopes.Select(p => p.z).ToArray() : trajectory.points.Select(p => p.z).ToArray();
dataXList = DoubleArray.From(xList);
dataZList = DoubleArray.From(zList);
signal = getSignal(dataXList, dataZList);
getPxxFx(signal, trajectory.samplingRate, out Pxx, out Fx);
//Discard values before 0.05 Hz (high pass filter)
highPassFilter(Pxx, Fx, 0.05, out Pxx, out Fx);
totalPower = Pxx.Sum();
F50 = getFn(Pxx, Fx, 0.5);
F95 = getFn(Pxx, Fx, 0.95);
centroidFreq = getCentroidFreq(Pxx, Fx);
FreqDispersion = getFreqDispersion(Pxx, Fx);
}
public override List <Tuple <Trajectory, ESegmentType> > segmentTrajectory(Trajectory trajectory)
{
List <Tuple <Trajectory, ESegmentType> > segments = new List <Tuple <Trajectory, ESegmentType> >();
double closeThreshold = 1.5;
double farThreshold = 7.5;
Double.TryParse(ConfigurationManager.AppSettings["SegmentedGaitFarThreshold"], out farThreshold);
Double.TryParse(ConfigurationManager.AppSettings["SegmentedGaitCloseThreshold"], out closeThreshold);
Trajectory t = null;
long lastTimeStamp = -1000;
int pointNumber = -1;
foreach (var p in trajectory.points)
{
pointNumber++;
if (p.z < closeThreshold)
{
continue;
}
if (p.z > farThreshold)
{
continue;
}
if (p.timeStamp - lastTimeStamp > 1000)
{
if ((t != null) && (t.duratation() > 1.0))
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.Walking));
}
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
t.add(p, trajectory.slopes[pointNumber]);
lastTimeStamp = p.timeStamp;
}
if ((t != null) && (t.duratation() > 1.0))
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.Walking));
}
return(segments);
}
public Ellipse(Trajectory trajectory)
{
Point center = trajectory.mean();
centerX = center.x;
centerY = center.z;
//Calculate area
DoubleArray covMatrix = trajectory.covariance();
Eigen eigen = new Eigen(covMatrix);
double chisquare_val = 2.4477;
DoubleArray eigenvalues = (DoubleArray)eigen.D;
a = chisquare_val * Math.Sqrt(eigenvalues.Max());
b = chisquare_val * Math.Sqrt(eigenvalues.Min());
//Calculate ellipse coordinate points
DoubleArray eigenvectors = (DoubleArray)eigen.V;
DoubleArray largestEigenvector = eigenvectors.Max(0);
DoubleArray smallestEigenvector = eigenvectors.Min(0);
angle = Math.Atan2(largestEigenvector[1], largestEigenvector[0]);
//This angle is between -pi and pi.
//Let's shift it such that the angle is between 0 and 2pi
if (angle < 0)
{
angle = angle + 2 * Math.PI;
}
area = Math.PI * a * b;
perimeter = Math.PI / 2 * Math.Sqrt(2 * a * a + 2 * b * b);
getEllipseSamplePoints(100);
covMatrix.Dispose();
eigenvalues.Dispose();
eigenvectors.Dispose();
largestEigenvector.Dispose();
smallestEigenvector.Dispose();
}
public override List <Tuple <Trajectory, ESegmentType> > segmentTrajectory(Trajectory trajectory)
{
List <Tuple <Trajectory, ESegmentType> > segments = new List <Tuple <Trajectory, ESegmentType> >();
var state = Estate.Square1;
var histerthesis = 0.1;
if (!Double.TryParse(ConfigurationManager.AppSettings["FSSThreshold"], out double threshold))
{
threshold = 2.0;
}
Trajectory t = new Trajectory
{
samplingRate = trajectory.samplingRate
};
long trajectoryLength = trajectory.points.Count;
for (int i = 0; i < trajectoryLength; i++)
{
var p = trajectory.points[i];
var slope = trajectory.slopes[i];
Estate observedState = state;
if (p.z > threshold && p.x > 0)
{
observedState = Estate.Square1;
}
if (p.z < threshold && p.x > 0)
{
observedState = Estate.Square2;
}
if (p.z < threshold && p.x < 0)
{
observedState = Estate.Square3;
}
if (p.z > threshold && p.x < 0)
{
observedState = Estate.Square4;
}
if (observedState != state)
{
if (Math.Abs(p.x) > histerthesis || (Math.Abs(p.z - threshold) > histerthesis))
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, GetSegmentType(state)));
t = new Trajectory
{
samplingRate = trajectory.samplingRate
};
state = observedState;
}
}
t.add(p, slope);
}
if (t.points.Any())
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, GetSegmentType(state)));
t = new Trajectory
{
samplingRate = trajectory.samplingRate
};
}
return(segments);
}
public override List <Metric> getMetrics(List <Tuple <Trajectory, ESegmentType> > segments, Trajectory trajectory)
{
List <Metric> metrics = new List <Metric>();
double totalDuration = 0.0;
foreach (var segment in segments)
{
var duration = segment.Item1.duratation();
totalDuration += duration;
switch (segment.Item2)
{
case ESegmentType.StandingUp: metrics.Add(new Metric {
name = "Time to stand", value = duration
}); break;
case ESegmentType.WalkingToSensor: metrics.Add(new Metric {
name = "Time to walk before turning", value = duration
}); break;
case ESegmentType.Turning: metrics.Add(new Metric {
name = "Time to turn", value = duration
}); break;
case ESegmentType.WalkingAwayFromSensor: metrics.Add(new Metric {
name = "Time to walk after turning", value = duration
}); break;
case ESegmentType.SittingDown: metrics.Add(new Metric {
name = "Time to sit", value = duration
}); break;
default: throw new Exception("unexpected segment type " + Enum.GetName(typeof(ESegmentType), segment.Item2));
}
}
metrics.Add(new Metric
{
name = "Total",
value = totalDuration
});
return(metrics);
}
public override List <Tuple <Trajectory, ESegmentType> > segmentTrajectory(Trajectory trajectory)
{
var segments = new List <Tuple <Trajectory, ESegmentType> >();
var closeThreshold = 2.5;
var farThreshold = 4.5;
var hysteresis = 0.05;
var sittingZSlope = 0.4;
Double.TryParse(ConfigurationManager.AppSettings["TUGcloseThreshold"], out closeThreshold);
Double.TryParse(ConfigurationManager.AppSettings["TUGfarThreshold"], out farThreshold);
Double.TryParse(ConfigurationManager.AppSettings["TUGhysteresis"], out hysteresis);
double sittingZAngle;
if (Double.TryParse(ConfigurationManager.AppSettings["TUGsittingZAngle"], out sittingZAngle))
{
sittingZSlope = Math.Sin(sittingZAngle * Math.PI / 180);
}
Estate state = Estate.Stand;
Trajectory t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
long trajectoryLength = trajectory.points.Count;
for (int i = 0; i < trajectoryLength; i++)
{
var p = trajectory.points[i];
var slope = trajectory.slopes[i];
if (p.z < farThreshold && state == Estate.Stand)
{
state = Estate.GettingCloser;
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.StandingUp));
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
if (p.z < closeThreshold - hysteresis && state == Estate.GettingCloser)
{
state = Estate.Turning;
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.WalkingToSensor));
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
if (p.z > closeThreshold + hysteresis && state == Estate.Turning)
{
state = Estate.GoingAway;
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.Turning));
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
if (p.z > farThreshold && state == Estate.GoingAway)
{
state = Estate.Sitting;
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.WalkingAwayFromSensor));
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
if (state == Estate.Sitting)
{
if (slope.z > sittingZSlope)
{
state = Estate.Done;
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.SittingDown));
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
}
t.add(p, slope);
}
if (state == Estate.Sitting)
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.SittingDown));
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
return(segments);
}
public override List <Metric> getMetrics(List <Tuple <Trajectory, ESegmentType> > segments, Trajectory trajectory)
{
List <Metric> metrics = new List <Metric>();
var turningTrajectories = segments.Where(s => s.Item2 == ESegmentType.Turning).Select(s => s.Item1).ToList();
var walkingTrajectories = segments.Where(s => s.Item2 == ESegmentType.Walking).Select(s => s.Item1).ToList();
metrics.Add(new Metric
{
name = "Turns",
value = turningTrajectories.Count
});
metrics.Add(new Metric
{
name = "Turn time",
value = turningTrajectories.Select(trj => trj.duratation()).Median()
});
metrics.Add(new Metric
{
name = "Walks",
value = walkingTrajectories.Count
});
metrics.Add(new Metric
{
name = "Walk time",
value = walkingTrajectories.Select(trj => trj.duratation()).Median()
});
metrics.Add(new Metric
{
name = "COM distance",
value = trajectory.pathLength()
});
if (!walkingTrajectories.Any())
{
return(metrics);
}
metrics.Add(new Metric
{
name = "Velocity",
value = walkingTrajectories.Select(segment => segment.pathLength() / segment.duratation()).Median()
});
metrics.Add(new Metric
{
name = "Walking efficiency",
value = walkingTrajectories.Select(trj => trj.efficiency()).Median()
});
var normalizedWalkingTrajectories = walkingTrajectories.Select(trj => normalizeTrajectory(trj, ESegmentType.Walking)).ToList();
metrics.Add(new Metric
{
name = "Lateral sway",
value = normalizedWalkingTrajectories.Select(trj => trj.lateralDeviation()).Median()
});
metrics.Add(new Metric
{
name = "Temporal sway",
value = normalizedWalkingTrajectories.Select(trj => trj.ventralDeviation()).Median()
});
metrics.Add(new Metric
{
name = "Total sway",
value = normalizedWalkingTrajectories.Select(trj => trj.totalDeviation()).Median()
});
metrics.Add(new Metric
{
name = "RMS",
value = normalizedWalkingTrajectories.Select(trj => trj.RMS()).Median()
});
var ellipses = normalizedWalkingTrajectories.Select(trj => new Ellipse(trj)).ToList();
metrics.Add(new Metric
{
name = "Area",
value = ellipses.Select(e => e.area).Median()
});
metrics.Add(new Metric
{
name = "Range A",
value = ellipses.Select(e => e.a * 2).Median()
});
metrics.Add(new Metric
{
name = "Range B",
value = ellipses.Select(e => e.b * 2).Median()
});
var fftStats = walkingTrajectories.Select(trj => new FFTStats(trj, FFTStats.EDirection.Z, true)).ToList();
metrics.Add(new Metric
{
name = "step duration",
value = fftStats.Select(stat => 1.0 / stat.GetPeekFrequency()).Median()
});
metrics.Add(new Metric
{
name = "step length",
value = fftStats.Zip(walkingTrajectories, (stat, trj) => trj.progressLength() / (stat.GetPeekFrequency() * trj.duratation())).Median()
});
//var freqMetrics = normalizedWalkingTrajectories.Select(trj => new FrequencyStats(trj)).ToList();
//metrics.Add(new Metric
//{
// name = "PWR",
// value = freqMetrics.Select(f => f.totalPower).Median()
//});
//metrics.Add(new Metric
//{
// name = "F50",
// value = freqMetrics.Select(f => f.F50).Median()
//});
//metrics.Add(new Metric
//{
// name = "F95",
// value = freqMetrics.Select(f => f.F95).Median()
//});
//metrics.Add(new Metric
//{
// name = "Centroid Freq",
// value = freqMetrics.Select(f => f.centroidFreq).Median()
//});
//metrics.Add(new Metric
//{
// name = "Freq Dispersion",
// value = freqMetrics.Select(f => f.FreqDispersion).Median()
//});
//double freq = metrics.Where(m => m.name == "Centroid Freq").First().value;
//double velocity = metrics.Where(m => m.name == "Velocity").First().value;
//metrics.Add(new Metric
//{
// name = "Stirde Length",
// value = velocity / freq
//});
return(metrics);
}
public override List <Tuple <Trajectory, ESegmentType> > segmentTrajectory(Trajectory trajectory)
{
List <Tuple <Trajectory, ESegmentType> > segments = new List <Tuple <Trajectory, ESegmentType> >();
var state = Estate.GoingAway;
var closeThreshold = 2.5;
var farThreshold = 6.5;
var hysteresis = 0.05;
Double.TryParse(ConfigurationManager.AppSettings["closeThreshold"], out closeThreshold);
Double.TryParse(ConfigurationManager.AppSettings["farThreshold"], out farThreshold);
Double.TryParse(ConfigurationManager.AppSettings["hysteresis"], out hysteresis);
string initialState = ConfigurationManager.AppSettings["initialState"];
switch (initialState)
{
case "GettingCloser": state = Estate.GettingCloser; break;
case "GoingAway": state = Estate.GoingAway; break;
case "TurningClose": state = Estate.TurningClose; break;
case "TurningFar": state = Estate.TurningFar; break;
}
Trajectory t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
int pointNumber = -1;
foreach (var p in trajectory.points)
{
pointNumber++;
if (p.z < closeThreshold - hysteresis && state == Estate.GettingCloser)
{
state = Estate.TurningClose;
if (t.duratation() > 0)
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.Walking));
}
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
else if (p.z > farThreshold + hysteresis && state == Estate.GoingAway)
{
state = Estate.TurningFar;
if (t.duratation() > 0)
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.Walking));
}
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
else if (p.z > closeThreshold + hysteresis && state == Estate.TurningClose)
{
state = Estate.GoingAway;
if (t.duratation() > 0)
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.Turning));
}
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
else if (p.z < farThreshold - hysteresis && state == Estate.TurningFar)
{
state = Estate.GettingCloser;
if (t.duratation() > 0)
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.Turning));
}
t = new Trajectory();
t.samplingRate = trajectory.samplingRate;
}
t.add(p, trajectory.slopes[pointNumber]);
}
return(segments);
}
public abstract List <Metric> getMetrics(List <Tuple <Trajectory, ESegmentType> > segments, Trajectory trajectory);
public override List <Metric> getMetrics(List <Tuple <Trajectory, ESegmentType> > segments, Trajectory trajectory)
{
List <Metric> metrics = new List <Metric>();
Ellipse ellipse = new Ellipse(trajectory);
//Time domain stats
metrics.Add(new Metric
{
name = "Lateral sway",
value = trajectory.lateralDeviation()
});
metrics.Add(new Metric
{
name = "Ventral sway",
value = trajectory.ventralDeviation()
});
metrics.Add(new Metric
{
name = "Median Dist",
value = trajectory.totalDeviation()
});
metrics.Add(new Metric
{
name = "RMS",
value = trajectory.RMS()
});
metrics.Add(new Metric
{
name = "Area",
value = ellipse.area
});
metrics.Add(new Metric
{
name = "Range A",
value = ellipse.a * 2
});
metrics.Add(new Metric
{
name = "Range B",
value = ellipse.b * 2
});
metrics.Add(new Metric
{
name = "Median Lateral Angle",
value = (Math.Asin(trajectory.slopes.Select(p => p.x).Median()) * 180 / Math.PI)
});
metrics.Add(new Metric
{
name = "Median Ventral Angle",
value = (Math.Asin(trajectory.slopes.Select(p => p.z).Median()) * 180 / Math.PI)
});
//Frequency domain stats
var freqMetrics = new FrequencyStats(trajectory);
metrics.Add(new Metric
{
name = "PWR",
value = freqMetrics.totalPower
});
metrics.Add(new Metric
{
name = "F50",
value = freqMetrics.F50
});
metrics.Add(new Metric
{
name = "F95",
value = freqMetrics.F95
});
metrics.Add(new Metric
{
name = "Centroid Freq",
value = freqMetrics.centroidFreq
});
metrics.Add(new Metric
{
name = "Freq Dispersion",
value = freqMetrics.FreqDispersion
});
return(metrics);
}
public override List <Metric> getMetrics(List <Tuple <Trajectory, ESegmentType> > anotatedSegments, Trajectory trajectory)
{
List <Metric> metrics = new List <Metric>();
List <Trajectory> segments = anotatedSegments.Select(s => s.Item1).ToList();
metrics.Add(new Metric
{
name = "Segments",
value = segments.Count
});
int segmentCounter = 0;
foreach (var segment in segments)
{
segmentCounter++;
string segmentString = String.Format("#{0,5}", segmentCounter);
metrics.Add(new Metric
{
name = "Walk time" + segmentString,
value = segment.duratation()
});
metrics.Add(new Metric
{
name = "COM distance" + segmentString,
value = segment.pathLength()
});
metrics.Add(new Metric
{
name = "Velocity" + segmentString,
value = segment.pathLength() / segment.duratation()
});
metrics.Add(new Metric
{
name = "Walking efficiency" + segmentString,
value = segment.efficiency()
});
var normalizedWalkingTrajectorie = normalizeTrajectory(segment, ESegmentType.Walking);
metrics.Add(new Metric
{
name = "Lateral sway" + segmentString,
value = normalizedWalkingTrajectorie.lateralDeviation()
});
metrics.Add(new Metric
{
name = "Temporal sway" + segmentString,
value = normalizedWalkingTrajectorie.ventralDeviation()
});
metrics.Add(new Metric
{
name = "Total sway" + segmentString,
value = normalizedWalkingTrajectorie.totalDeviation()
});
metrics.Add(new Metric
{
name = "RMS" + segmentString,
value = normalizedWalkingTrajectorie.RMS()
});
var ellipse = new Ellipse(segment);
metrics.Add(new Metric
{
name = "Area" + segmentString,
value = ellipse.area
});
metrics.Add(new Metric
{
name = "Range A" + segmentString,
value = ellipse.a * 2
});
metrics.Add(new Metric
{
name = "Range B" + segmentString,
value = ellipse.b * 2
});
//var freqMetric = new FrequencyStats(segment, true);
////var freqMetric = new FrequencyStats(normalizedWalkingTrajectorie);
//metrics.Add(new Metric
//{
// name = "PWR" + segmentString,
// value = freqMetric.totalPower
//});
//metrics.Add(new Metric
//{
// name = "F50" + segmentString,
// value = freqMetric.F50
//});
//metrics.Add(new Metric
//{
// name = "F95" + segmentString,
// value = freqMetric.F95
//});
//metrics.Add(new Metric
//{
// name = "Centroid Freq" + segmentString,
// value = freqMetric.centroidFreq
//});
//metrics.Add(new Metric
//{
// name = "Freq Dispersion" + segmentString,
// value = freqMetric.FreqDispersion
//});
var fftStats = new FFTStats(segment, FFTStats.EDirection.Z, true);
var stepFreq = fftStats.GetPeekFrequency();
metrics.Add(new Metric
{
name = "step duration" + segmentString,
value = 1 / stepFreq
});
metrics.Add(new Metric
{
name = "step length" + segmentString,
value = segment.progressLength() / (stepFreq * segment.duratation())
});
}
return(metrics);
}
public override List <Metric> getMetrics(List <Tuple <Trajectory, ESegmentType> > segments, Trajectory trajectory)
{
List <Metric> metrics = new List <Metric>();
List <double> timeToStandDuration = new List <double>();
List <double> timeStandingDuration = new List <double>();
List <double> timeToSitDuration = new List <double>();
List <double> timeSittingDuration = new List <double>();
List <double> timeTotalDuration = new List <double>();
List <double> minSlopeZList = new List <double>();
List <double> maxSlopeZList = new List <double>();
double totalDuration = 0.0;
foreach (var segment in segments)
{
var duration = segment.Item1.duratation();
totalDuration += duration;
var minSlopeZ = 0.0;
var maxSlopeZ = 0.0;
switch (segment.Item2)
{
case ESegmentType.StandingUp: timeToStandDuration.Add(duration);
foreach (var slope in segment.Item1.leans)
{
if (maxSlopeZ < slope.z)
{
maxSlopeZ = slope.z;
}
}
maxSlopeZList.Add(maxSlopeZ);
break;
case ESegmentType.Sitting: timeSittingDuration.Add(duration);
foreach (var slope in segment.Item1.leans)
{
if (minSlopeZ < slope.z)
{
minSlopeZ = slope.z;
}
}
minSlopeZList.Add(minSlopeZ);
break;
case ESegmentType.Standing: timeStandingDuration.Add(duration); break;
case ESegmentType.SittingDown: timeToSitDuration.Add(duration); break;
default: throw new Exception("unexpected segment type " + Enum.GetName(typeof(ESegmentType), segment.Item2));
}
}
metrics.Add(new Metric {
name = "MedianTimeToStand", value = timeToStandDuration.Median()
});
metrics.Add(new Metric {
name = "MedianTimeStanding", value = timeStandingDuration.Median()
});
metrics.Add(new Metric {
name = "MedianTimeToSit", value = timeToSitDuration.Median()
});
metrics.Add(new Metric {
name = "MedianTimeSitting", value = timeSittingDuration.Median()
});
metrics.Add(new Metric {
name = "MedianMinSlope", value = minSlopeZList.Median()
});
metrics.Add(new Metric {
name = "MedianMaxSlope", value = maxSlopeZList.Median()
});
metrics.Add(new Metric {
name = "NumberOfTimes", value = timeToSitDuration.Count
});
double totalDurationAvg = (totalDuration / timeStandingDuration.Count);
metrics.Add(new Metric
{
name = "Total",
value = totalDurationAvg
});
return(metrics);
}
public override List <Tuple <Trajectory, ESegmentType> > segmentTrajectory(Trajectory trajectory)
{
var segments = new List <Tuple <Trajectory, ESegmentType> >();
Double.TryParse(ConfigurationManager.AppSettings["CHAIRSTANDhysteresis"], out double hysteresis);
Double.TryParse(ConfigurationManager.AppSettings["CHAIRSTANDsittingZAngle"], out double sittingZAngle);
Double.TryParse(ConfigurationManager.AppSettings["CHAIRSTANDstandingZAngle"], out double standingZAngle);
Double.TryParse(ConfigurationManager.AppSettings["CHAIRSTANDsittingDownZAngle"], out double sittingDownZAngle);
Double.TryParse(ConfigurationManager.AppSettings["CHAIRSTANDstandingUpZAngle"], out double standingUpZAngle);
Estate state = Estate.Sitting;
Trajectory t = new Trajectory
{
samplingRate = trajectory.samplingRate
};
long trajectoryLength = trajectory.points.Count;
for (int i = 0; i < trajectoryLength; i++)
{
var p = trajectory.points[i];
var slope = trajectory.slopes[i];
var lean = trajectory.leans[i];
var slopeZ = Math.Asin(slope.z) * 180 / Math.PI;
switch (state)
{
case Estate.Standing:
if (slopeZ > sittingDownZAngle)
{
state = Estate.SittingDown;
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.Standing));
t = new Trajectory
{
samplingRate = trajectory.samplingRate
};
}
break;
case Estate.SittingDown:
if (slopeZ > sittingZAngle)
{
state = Estate.Sitting;
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.SittingDown));
t = new Trajectory
{
samplingRate = trajectory.samplingRate
};
}
break;
case Estate.Sitting:
if (slopeZ < standingUpZAngle)
{
state = Estate.StandingUp;
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.Sitting));
t = new Trajectory
{
samplingRate = trajectory.samplingRate
};
}
break;
case Estate.StandingUp:
if (slopeZ < standingZAngle)
{
state = Estate.Standing;
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.StandingUp));
t = new Trajectory
{
samplingRate = trajectory.samplingRate
};
}
break;
}
t.add(p, slope, lean);
}
if (state == Estate.SittingDown)
{
segments.Add(new Tuple <Trajectory, ESegmentType>(t, ESegmentType.SittingDown));
t = new Trajectory
{
samplingRate = trajectory.samplingRate
};
}
return(segments);
}
public abstract List <Tuple <Trajectory, ESegmentType> > segmentTrajectory(Trajectory trajectory);
public override List <Metric> getMetrics(List <Tuple <Trajectory, ESegmentType> > segments, Trajectory trajectory)
{
List <Metric> metrics = new List <Metric>();
double totalDuration = 0.0;
var walkingTrajectories = segments.Where(s => s.Item2 == ESegmentType.Square1 ||
s.Item2 == ESegmentType.Square2 ||
s.Item2 == ESegmentType.Square3 ||
s.Item2 == ESegmentType.Square4
).Select(s => s.Item1).ToList();
metrics.Add(new Metric {
name = "Time walking forward to square 2", value = segments[0].Item1.duratation()
});
metrics.Add(new Metric {
name = "Time walking right to square 3", value = segments[1].Item1.duratation()
});
metrics.Add(new Metric {
name = "Time walking backwards to square 4", value = segments[2].Item1.duratation()
});
metrics.Add(new Metric {
name = "Time walking left to square 1", value = segments[3].Item1.duratation()
});
metrics.Add(new Metric {
name = "Time walking right to square 4", value = segments[4].Item1.duratation()
});
metrics.Add(new Metric {
name = "Time walking forward to square 3", value = segments[5].Item1.duratation()
});
metrics.Add(new Metric {
name = "Time walking left to square 2", value = segments[6].Item1.duratation()
});
metrics.Add(new Metric {
name = "Time walking backwards to square 1", value = segments[7].Item1.duratation()
});
for (int i = 0; i < 8; i++)
{
totalDuration += segments[i].Item1.duratation();
}
metrics.Add(new Metric
{
name = "Total",
value = totalDuration
});
var normalizedWalkingTrajectories = walkingTrajectories.Select(trj => normalizeTrajectory(trj, ESegmentType.Walking)).ToList();
metrics.Add(new Metric
{
name = "Lateral sway",
value = normalizedWalkingTrajectories.Select(trj => trj.lateralDeviation()).Median()
});
metrics.Add(new Metric
{
name = "Temporal sway",
value = normalizedWalkingTrajectories.Select(trj => trj.ventralDeviation()).Median()
});
metrics.Add(new Metric
{
name = "Total sway",
value = normalizedWalkingTrajectories.Select(trj => trj.totalDeviation()).Median()
});
return(metrics);
}
public override List <Metric> getMetrics(List <Tuple <Trajectory, ESegmentType> > segments, Trajectory trajectory)
{
List <Metric> metrics = new List <Metric>();
Ellipse ellipse = new Ellipse(trajectory);
var startValueExtreamZ = trajectory.extreams.Take(10).Min(p => p.minZ);
var reachValueExtreamZ = trajectory.extreams.Min(p => p.minZ);
//Time domain stats
metrics.Add(new Metric
{
name = "Reach distance",
value = startValueExtreamZ - reachValueExtreamZ
});
metrics.Add(new Metric
{
name = "Ventral sway",
value = trajectory.ventralDeviation()
});
return(metrics);
}
private List <Metric> analyzeSharedMetrics(List <Tuple <Trajectory, ESegmentType> > segments, Trajectory trajectory)
{
List <Metric> metrics = new List <Metric>();
//Time domain stats
metrics.Add(new Metric
{
name = "Duration",
value = trajectory.duratation()
});
metrics.Add(new Metric
{
name = "Frames Per Second",
value = segments.Sum(s => s.Item1.points.Count) / segments.Sum(s => s.Item1.duratation())
});
return(metrics);
}
