HAS-Motion Software Documentation

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====== 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}}