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--- visual3d:documentation:kinematics_and_kinetics:exporting_six_degree_of_freedom_data [2024/07/16 17:02] – removed sgranger
+++ visual3d:documentation:kinematics_and_kinetics:exporting_six_degree_of_freedom_data [2024/07/17 15:45] (current) – created sgranger
@@ Line 1: / Line 1: @@
+====== Exporting six degree of freedom data ======
+=== Exporting 6 DOF Data ===
+Exporting 6 degree of freedom data to an ASCII format as either an
+\\
+**ORIGIN and QUATERNION**\\
+**OR**\\
+**ORIGIN and 3x3 ROTATION MATRIX**
+=== Exported File Format ===
+Visual3D loads 6 degree of freedom from ASCII data files with the following formats.
+== Rotation Matrix Based ==
+|    |filename     |filename        |filename        |filename        |filename        |filename        |filename        |filename        |filename        |filename        |filename        |filename        |filename        |
+|    |TIME         |ORIGIN          |ORIGIN          |ORIGIN          |ROTATION        |ROTATION        |ROTATION        |ROTATION        |ROTATION        |ROTATION        |ROTATION        |ROTATION        |ROTATION        |
+|    |FRAME_NUMBERS|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|
+|    |ORIGINAL     |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |
+|ITEM|0            |X               |Y               |Z               |0               |1               |2               |3               |4               |5               |6               |7               |8               |
+|1   |0.0          |0.564162        |0.002198        |0.086599        |0.648289        |-0.680243       |-0.342039       |0.259806        |-0.224631       |0.939171        |-0.715696       |-0.697719       |0.031104        |
+|2   |0.032        |0.569361        |0.004844        |0.081942        |0.712005        |-0.652892       |-0.258418       |0.255689        |-0.101686       |0.961396        |-0.653967       |-0.750593       |0.094538        |
+\\
+The Origin is at the Proximal End of the Segment
+\\
+The Rotation matrix is represented as
+|    |||0|1|2|||
+|[R]=|||3|4|5|||
+|    |||6|7|8|||
+== Quaternion Based ==
+|    |filename     |filename        |filename        |filename        |filename        |filename        |filename        |filename        |
+|    |TIME         |ORIGIN          |ORIGIN          |ORIGIN          |QUATERNION      |QUATERNION      |QUATERNION      |QUATERNION      |
+|    |FRAME_NUMBERS|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|LINK_MODEL_BASED|
+|    |ORIGINAL     |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |BODY1           |
+|ITEM|0            |X               |Y               |Z               |0               |1               |2               |3               |
+|1   |0.0          |0.9782          |0.5654          |-1.0257         |0.298           |-0.6755         |0.2496          |-0.6264         |
+|2   |0.032        |0.9782          |0.5654          |-1.0257         |0.298           |-0.6755         |0.2496          |-0.6264         |
+\\
+The file format is column based. Additional rigid bodies can be added as new columns with the same format.
+=== Example 1 ===
+Exporting the position and orientation of segment RFT as an ORIGIN and Quaternion
+\\
+**Export_Data_To_Ascii_File**
+! /FILE_NAME=
+/SIGNAL_TYPES=FRAME_NUMBERS+LINK_MODEL_BASED+LINK_MODEL_BASED
+/SIGNAL_NAMES=TIME+ORIGIN+QUATERNION
+/SIGNAL_FOLDER=ORIGINAL+RFT+RFT
+! /START_LABEL=
+! /END_LABEL=
+! /USE_POINT_RATE=FALSE
+! /NORMALIZE_DATA=FALSE
+! /NORMALIZE_POINTS=101
+! /EXPORT_MEAN_AND_STD_DEV=FALSE
+! /USE_P2D_FORMAT=FALSE
+**;**
+\\
+Exporting the position and orientation of segment RFT as an ORIGIN and Rotation
+\\
+**Export_Data_To_Ascii_File**
+! /FILE_NAME=
+/SIGNAL_TYPES=FRAME_NUMBERS+LINK_MODEL_BASED+LINK_MODEL_BASED
+/SIGNAL_NAMES=TIME+ORIGIN+ROTATION
+/SIGNAL_FOLDER=ORIGINAL+RFT+RFT
+! /START_LABEL=
+! /END_LABEL=
+! /USE_POINT_RATE=FALSE
+! /NORMALIZE_DATA=FALSE
+! /NORMALIZE_POINTS=101
+! /EXPORT_MEAN_AND_STD_DEV=FALSE
+! /USE_P2D_FORMAT=FALSE
+**;**
+=== Example 2 ===
+Open the text file that was just created. Select File -> Open. Select the viewer for .txt files. Select "aurora.txt".
+{{:MergeAuroraFiles4.gif}}
+The file will be loaded into memory. The Aurora file contains position and rotation data for a rigid body. It will appear in Visual3D as LINKMODEL_BASED items containing the
+ORIGIN (3 components)
+QUATERNION (4 components).
+{{:MergeAuroraFiles5.gif}}
+Visual3D typically works with motion capture markers, so to maximize your ability to work with this data, you can create a set of 3 targets per rigid body using the following command.
+**Create_Targets_For_LinkModelBased_Rotations**
+/SIGNAL_FOLDERS=Port_01+Port_02+Port_03+Port_04
+**;**
+Targets for each rigid body should appear in the data tree.
+It is possible to save this data to a C3D formatted file, but the LINK MODEL data (e.g. the ORIGINAL Translation and Quaternion will be lost, so it is recommended that you save this data to a cmo file.
+{{:MergeAuroraFiles7.gif}}
+If you need a static trial for modeling the data, you can save the first frame of data to a c3d file.
+{{:MergeAuroraFiles8.gif}}