Functions
def	angle_between_hooktip_mechanism_radial_vectors
def	check_time_sync
	plot to ensure that the time stamps in the different logs are reasonable.
def	compare_tip_mechanism_trajectories
	sanity check - fitting circle to mechanism and hook tip trajectories, computing the angle between the initial radial direction of the mechanism and the radial directions for the hook tip.
def	compute_hook_tip_trajectory
def	compute_mech_angle_1
	use method 1 to compute the mechanism angle from combined dict.
def	compute_mech_angle_2
	use method 2 to compute the mechanism angle from combined dict.
def	compute_mech_rot_list
def	compute_mechanism_properties
def	ft_to_camera
	transform forces to camera coord frame.
def	ft_to_camera_3
	transform force to camera coord frame.
def	fts_to_camera
	returns force and moment at the tip of the hook in camera coordinates.
def	plot
def	plot_forces
def	plot_hooktip_trajectory_and_force
def	plot_radial_tangential
def	plot_trajectories
def	project_points_plane
def	split_forces_hooktip_test
def	split_open_close
	take the open + close trajectory and split it into two separate trajectories and save them as pkls.
def	synchronize
Variables
tuple	ang = np.array(ang)
	bias_ft = True,tuptup,
tuple	cd = ut.load_pickle(glob.glob(opt.dir + '/combined_log*.pkl')[0])
	cd_pkl_name = pkl_name)
string	color = 'b'
tuple	d = synchronize(ft_dict, mechanism_dict, hand_dict)
string	dest = 'mech_prop_ros'
tuple	end_idx = np.argmax(mech_angle_l)
tuple	fig1 = mpu.figure()
tuple	fmag = np.linalg.norm(f)
list	force_mat = ft_mat[0:3, :]
tuple	ft_dict = ut.load_pickle(ft_pkl)
tuple	ft_mat = np.matrix(cd['ft_list'])
tuple	ft_pkl = glob.glob(opt.dir + '/ft_log*.pkl')
list	ft_time_list = ft_dict['time_list']
list	hand_dict = poses_dict['hand']
tuple	hand_mat = np.column_stack(hook_tip_l)
list	hand_time_list = hand_dict['time_list']
string	help = 'plot to check the consistency of time stamps'
list	hook_rot_l = cd['hand_rot_list']
tuple	hook_tip_l = compute_hook_tip_trajectory(cd)
list	incr = ang[1:]
string	lab1 = 'orientation only'
string	lab2 = 'checker origin position + circle fit'
string	lab3 = 'checker origin position + PCA projection + circle fit'
int	label = 1
int	linewidth = 1
tuple	ma1 = compute_mech_angle_1(cd)
tuple	ma2 = compute_mech_angle_2(cd, tup, project_plane=False)
tuple	ma3 = compute_mech_angle_2(cd, tup, project_plane=True)
tuple	mag = abs(incr[i] - incr[i+1])
tuple	max_idx = np.argmax(ang)
tuple	md = ut.load_pickle(mech_pkl_name)
tuple	mech_angle_l = compute_mech_angle_2(cd, tup, project_plane=False)
tuple	mech_mat = np.column_stack(cd['mech_pos_list'])
tuple	mech_pkl_name = glob.glob(opt.dir + '/open_mechanism_trajectories_*.pkl')
list	mechanism_dict = poses_dict['mechanism']
list	mechanism_time_list = mechanism_dict['time_list']
tuple	moment_axis = np.array(moment_axis[:max_idx+1])
list	moment_mat = ft_mat[3:6, :]
tuple	moment_tip = np.array(moment_tip[:max_idx+1])
list	n_pts = ang.shape[0]
tuple	p = optparse.OptionParser()
tuple	pkl_name = glob.glob(opt.dir + '/combined_log*.pkl')
tuple	poses_dict = ut.load_pickle(poses_pkl)
tuple	poses_pkl = glob.glob(opt.dir + '/poses_dict*.pkl')
tuple	rad = np.array(rad[:max_idx+1])
list	sgn = incr[i]
tuple	tan = np.array(tan[:max_idx+1])
tuple	tup = ke.init_ros_node()
string	type = 'string'
tuple	vel1 = ma.compute_velocity(ma1, cd['time_list'], 1)
tuple	vel2 = ma.compute_velocity(ma2, cd['time_list'], 1)
tuple	vel3 = ma.compute_velocity(ma3, cd['time_list'], 1)

Function Documentation

def analyse_logs.angle_between_hooktip_mechanism_radial_vectors	(	mech_mat,
		hand_mat
	)

Definition at line 666 of file analyse_logs.py.

def analyse_logs.check_time_sync	(	ft_time_list,
		mechanism_time_list,
		hand_time_list
	)

plot to ensure that the time stamps in the different logs are reasonable.

TODO - check for the rates too.

Definition at line 21 of file analyse_logs.py.

def analyse_logs.compare_tip_mechanism_trajectories	(	mech_mat,
		hand_mat
	)

sanity check - fitting circle to mechanism and hook tip trajectories, computing the angle between the initial radial direction of the mechanism and the radial directions for the hook tip.

This angle starts out at a slightly positive angle. I'm assuming that this corresponds to the fact that the handle sticks out from the cabinet door. What makes me nervous is that I am still fitting two different circles to the mechanism and hook trajectories.

Definition at line 617 of file analyse_logs.py.

def analyse_logs.compute_hook_tip_trajectory ( combined_dict )

Returns:: list of hook tip coodinates in camera coordinate frame.

Definition at line 527 of file analyse_logs.py.

def analyse_logs.compute_mech_angle_1	(	cd,
		axis_direc = `None`
	)

use method 1 to compute the mechanism angle from combined dict.

method 1 - angle between the x axis of checkerboard coord frame.

Returns:: list of mechanism angles.

Definition at line 232 of file analyse_logs.py.

def analyse_logs.compute_mech_angle_2	(	cd,
		tup,
		project_plane = `False`
	)

use method 2 to compute the mechanism angle from combined dict.

method 2 - fit a circle to estimate location of axis of rotation and radius. Then use that to compute the angle of the mechanism.

Returns:: list of mechanism angles.

Definition at line 248 of file analyse_logs.py.

def analyse_logs.compute_mech_rot_list	(	cd,
		tup,
		project_plane = `False`
	)

Definition at line 267 of file analyse_logs.py.

def analyse_logs.compute_mechanism_properties	(	combined_dict,
		bias_ft = `False`,
		tup = `None`,
		cd_pkl_name = `None`
	)

Parameters:

tup	- if None then use method 1 else use method 2 to compute mech angle.

Returns:: 1d array (radial force), 1d array (tangential force), list of mechanism angles, type ('rotary' or 'prismatic')

Definition at line 311 of file analyse_logs.py.

def analyse_logs.ft_to_camera	(	force_tool,
		hand_rot_matrix,
		hand_pos_matrix,
		mech_pos_matrix,
		number
	)

transform forces to camera coord frame.

Parameters:

hand_rot_matrix	- rotation matrix for camera to hand checker.
hand_pos_matrix	- position of hand checkerboard in camera coord frame.
mech_pos_matrix	- position of mechanism checkerboard in camera coord frame.
number	- checkerboard number (1, 2, 3 or 4)

Definition at line 137 of file analyse_logs.py.