public static void test()
{
TransformRT[] inertiaRTs = DatParser.parseInertiaFileToRT(@"P:\Data\Functional_Wrist\E01424\S15R\inertia15R.dat");
TransformRT[] ACS_RT = DatParser.parseACSFileToRT(@"P:\Data\Functional_Wrist\E01424\S15R\AnatCoordSys.dat");
TransformRT[] motion = DatParser.parseMotionFileToRT(@"P:\Data\Functional_Wrist\E01424\S02R\Motion15R02R.dat");
TransformMatrix inertia = new TransformMatrix(inertiaRTs[8]);
TransformMatrix ACS = new TransformMatrix(ACS_RT[0]);
Posture p = CalculatePosture(ACS, inertia);
Posture p2 = CalculatePosture(ACS, inertia, new TransformMatrix(motion[0]), new TransformMatrix(motion[8]));
}
private void LoadInertiaData_SingleBone(string filename, int boneIndex)
{
if (!File.Exists(filename))
{
return;
}
TransformRT[] acs = DatParser.parseACSFileToRT(filename);
_bones[boneIndex].InertiaMatrix = new TransformMatrix(acs[0]);
}
private void LoadKinematicTransforms()
{
int numPos = _wrist.motionFiles.Length;
_numberPositions = numPos + 1; //add 1 for the neutral position
for (int i = 0; i < numPos; i++)
{
TransformMatrix[] transforms = DatParser.parseMotionFileToTransformMatrix(_wrist.motionFiles[i]);
for (int j = 0; j < WristFilesystem.NumBones; j++)
{
_bones[j].SetTransformation(transforms[j], i + 1); //offset position index by 1, 0 is neutral now!
}
}
}
private void LoadInertiaData()
{
if (File.Exists(_wrist.inertiaFile))
{
TransformRT[] inert = DatParser.parseInertiaFileToRT(_wrist.inertiaFile);
for (int i = 0; i < WristFilesystem.NumBones; i++) //skip the long bones
{
_bones[i].InertiaMatrix = new TransformMatrix(inert[i]);
}
}
//now try and load special inertia data
LoadInertiaData_SingleBone(_wrist.acsFile, (int)WristFilesystem.BIndex.RAD);
LoadInertiaData_SingleBone(_wrist.acsFile_uln, (int)WristFilesystem.BIndex.ULN);
}
private void LoadKinematicTransforms()
{
_numPositionsPerSeries = new int[_xrommFileSystem.Trials.Length + 1];
_numPositionsPerSeries[0] = 1; //CT Scan
//temporarily save kinematics here, before we can pass them on
List <TransformMatrix>[] tempTM = new List <TransformMatrix> [_xrommFileSystem.NumBones];
for (int i = 0; i < _xrommFileSystem.NumBones; i++)
{
tempTM[i] = new List <TransformMatrix>();
tempTM[i].Add(new TransformMatrix()); //add initial identity matrix for CT position
}
//lets loop through each Trial now and load the data
for (int i = 0; i < _xrommFileSystem.Trials.Length; i++)
{
//Read in the data
TransformMatrix[][] fm = DatParser.parseXrommKinematicFileToTransformMatrix(_xrommFileSystem.Trials[i].KinematicFilename);
if (fm.Length == 0)
{
throw new WristException("Unable to load Trial no data, help!");
}
//add data for each bone to the correct location
for (int j = 0; j < _xrommFileSystem.NumBones; j++)
{
tempTM[j].AddRange(fm[j]);
}
_numPositionsPerSeries[i + 1] = fm[0].Length;
}
_numberPositions = tempTM[0].Count; //the total count!
//finally, lets move all the data into the bone structure
for (int i = 0; i < _xrommFileSystem.NumBones; i++)
{
_bones[i].InitializeDataStructures(_numberPositions);
_bones[i].SetTransformation(tempTM[i].ToArray());
}
}