/// <summary>
/// Used to setup a new limb exercise
/// </summary>
/// <param name="config">Configuration of the limb that has to perform the exercise</param>
public void ExerciseSetup(ExerciseConfiguration config)
{
LimbExercise exercise = new LimbExercise();
exercise.exerciseConfig = config;
ArticolationTollerance[] tollerance = new ArticolationTollerance[config.limbConfiguration.sensors.Length];
for (int i = 0; i < config.limbConfiguration.sensors.Length; i++)
{
tollerance[i] = config.limbConfiguration.sensors[i].sensorTollerance;
}
exercise.aiManager.ExerciseTollerance = tollerance;
_exercises.Add(exercise);
}
void Update()
{
if (Input.GetKeyDown(keyIdeal))
{
// settings
// define tollerance (in this case is used the same tollerance for all variables and articulations
float tolleranceRadius = 0.2f;
ArticolationTollerance tollerance = new ArticolationTollerance();
tollerance.positionSpeedTolleranceRadius = tolleranceRadius;
tollerance.positionTolleranceRadius = tolleranceRadius;
tollerance.rotationSpeedTolleranceRadius = tolleranceRadius;
tollerance.rotationTolleranceRadius = tolleranceRadius;
// Configure limb, one per exercise per limb (if you want an exercise that involves to limbs, use two limbs configurations)
// example made for the arm
// instance sensors
Sensor shoulderSensor = new Sensor(shoulder, tollerance, "spalla");
Sensor elbowSensor = new Sensor(elbow, tollerance, "gomito");
Sensor handSensor = new Sensor(hand, tollerance, "mano");
// with the sensors instances create a limb configuration
LimbConfiguration config = new LimbConfiguration(shoulderSensor, elbowSensor, handSensor);
// configure exercise
ExerciseConfiguration exerciseConfiguration = new ExerciseConfiguration(
config,
(EvaluationResults results) =>
{
AIProxy aiProxy = new AIProxy(); // should be taken from context
//ArticolationError elbowError = aiProxy.UnwrapFromResults("gomito", results);
}
);
// to add more events handler:
exerciseConfiguration.OnExecutionStepEvaluated += (EvaluationResults results) => { }; // exercise configuration should be taken from somewhere
// configure the virtual physioteraphyst
VirtualPhysioterphyst eval = VirtualPhysioterphyst.Instance;
// define a timing for the sampling
float timing = 0.5f, totalDuration = 2f;
eval.timingBetweenSamples = timing;
// setup the exercise with the built configuration
eval.ExerciseSetup(exerciseConfiguration);
// start recording
eval.StartSetup();
// Start playing a new exercise (guided by the real physioteraphyst)
Sequence sequence = DOTween.Sequence();
sequence.Append(hand.transform.DOMove(hand.transform.position * 2, totalDuration));
// once finished the exercise, stop setup
sequence.OnComplete(() => {
eval.EndSetup(); // stop registering
// ... evaluating if the movement has to be saved or discarded
eval.SaveSetup(); // save registration
// eval.DiscardSetup(); // discard registration
});
}
if (Input.GetKeyDown(keyReal))
{
// turn back to initial position
hand.transform.position = initialPositionHand;
elbow.transform.position = initialPositionElbow;
shoulder.transform.position = initialPositionShoulder;
// start evaluation of the exercise
VirtualPhysioterphyst.Instance.StartEvaluation();
// play the exercise
Sequence sequence = DOTween.Sequence();
sequence.Append(hand.transform.DOMove(hand.transform.position * 2, timing / 2));
// on finish stop evaluating
sequence.OnComplete(() => VirtualPhysioterphyst.Instance.StopEvaluation());
}
}
/// <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());
}
