Body

class pylayers.mobility.ban.body.Body(_filebody='John.ini', _filemocap=[], _filewear=[], traj=[], unit='cm', loop=True, centered=True, multi_subject_mocap=False, color='white')

Bases: pylayers.util.project.PyLayers

Class to manage a Body model

ncyl : number of cylinder sl : d : topos : vtopos :

load center posvel loadC3D settopos setccs setdcs geomfile plot3d movie cylinder_basis_k cyl_antenna

Methods Summary

anim()	animate body
animc3d()	animate c3d file
body_link([topos, frameId])	body link
c3d2traj()	convert c3d file to trajectory
ccsfromc3d(config)	Create ccs from C3D file
center([force])	centering the body
chronophoto(**kwargs)	chronophotography of the body movement
cyl_antenna(cylinderId, l, alpha[, frameId])	cylinder antenna
cylfromc3d([centered])	Create cylinders from C3D file
cylinder_basis_k(frameId)	cylinder basis k
dpdf([tr, tunit, poffset])	device position dataframe return a dataframe with body and devices positions along the self.traj
export_csv([unit, df, _filename, col])
frame2time(f)
geomfile(**kwargs)	create a geomview file from a body configuration
getdevT([id, t, frameId])	get device orientation
getdevp([id])	get device position
init_traj()	create trajectory object from given trajectory or mocap
intersectBody(A, B[, topos, frameId, cyl])	intersect Body
intersectBody3(A, B[, topos, frameId])	intersect body new version
load([_filebody, _filemocap, unit, _filewear])	load a body ini file
loadC3D([filename, nframes, unit])	load nframes of motion capture C3D file
movie(**kwargs)	creates a geomview movie
network()	evaluate network topology and dynamics
plot3d([iframe, topos, fig, ax, col])	scatter 3d plot
posvel(traj, t)	calculate position and velocity
rdpdf()	real device position dataframe
setacs()	set antenna coordinate system (acs) from a topos or a set of frames
setccs([frameId, topos])	set cylinder coordinate system
setcs([topos, frameId])	set coordinates systems from a topos or a frame id
setdcs([topos, frameId])	set device coordinate system (dcs) from a topos
settopos([traj, t, cs, treadmill, p0])	translate the body on a time stamped trajectory
show(**kwargs)	show a 2D plane projection of the body
show3(**kwargs)	create geomfile for frame iframe
time2frame(t)

Methods Documentation

anim()

animate body

>>> from pylayers.mobility.trajectory import *
>>> from pylayers.mobility.ban.body import *
>>> from pylayers.gis.layout import *
>>> T=Trajectories()
>>> T.loadh5()
>>> L=Layout(T.Lfilename)
>>> B = Body()
>>> B.settopos(T[0],t=0,cs=True) 
>>> L._show3()
>>> B.anim(B)

animc3d()

animate c3d file

>>> from pylayers.mobility.trajectory import *
>>> from pylayers.mobility.ban.body import *
>>> B = Body()
>>> B.animc3d(B)

body_link(topos=True, frameId=0)

body link

toposboolean

default True

frameIdint

used in case topos == False. Indicates the frame Id.

link_visnp.array (,nlinks)

number of intersected cylinder on the link

links is a list of couple of strings inticating the different links between devices.

c3d2traj()

convert c3d file to trajectory

ccsfromc3d(config)

Create ccs from C3D file

config : dictionnary

center(force=False)

centering the body

self.pg : center of gravity self.vg : velocity self.d : set of centered frames self.smocap : integrated distance self.vmocap : averaged velocity

The center method creates a centered version of the motion capture data stored in self.d It also calculates : self.smocap : total distance along trajectory self.vmocap : averaged speed along trajectory

Here only the projection of the body centroid in the plan 0xy is calculated

chronophoto(**kwargs)

chronophotography of the body movement

(a.k.a. position as a function of time)

tstartfloat

starting time in second

tendfloat

ending time in second,

tstepfloat

time step between tstart and tend

sstepfloat

spatial step (distance between 2 instant)

planeslist

list of planes to be displayed [‘xz’,’xy’,’yz’]

devbool

show devices

devbool

show devices ids

http://en.wikipedia.org/wiki/Chronophotography

cyl_antenna(cylinderId, l, alpha, frameId=0)

cylinder antenna

cylinderId : int index of cylinder l : distance from origin of cylider alpha : angle from reference direction frameId : frameId

cylfromc3d(centered=False)

Create cylinders from C3D file

centeredboolean

False

cylinder_basis_k(frameId)

cylinder basis k

frameId : int

dpdf(tr=[], tunit='ns', poffset=False)

device position dataframe return a dataframe with body and devices positions along the self.traj

trndarray

timerange

cdf: pd.DataFrame

complete device data frame

>>> from pylayers.mobility.ban.body import *
>>> T = tr.Trajectories()
>>> T.loadh5()
>>> B=Body(traj=T[0])
>>> cdf = B.dpdf()

export_csv(unit='mm', df=[], _filename='default.csv', col=['dev_id', 'dev_x', 'dev_y', 'dev_z', 'timestamp'], **kwargs)

frame2time(f)

geomfile(**kwargs)

create a geomview file from a body configuration

iframe : int frame id (useless if topos==True) verbose : boolean topos : boolean frame id or topos wire : boolean body as a wire or cylinder ccs : boolean display cylinder coordinate system cacs : boolean display cylinder antenna coordinate system acs : boolean display antenna coordinate system struc : boolean displat structure layout tag : string filestruc : string name of the Layout

This function creates either a 3d representation of the frame iframe or if topos==True a representation of the current topos.

getdevT(id=-1, t=[], frameId=[])

get device orientation

idstr | list

device id.

frameIdint

frameid

tfloat

time

device orientation

getdevp(id=-1)

get device position

idstr | list

device id.

frameIdint

frameid

tfloat

time

device position

init_traj()

create trajectory object from given trajectory or mocap

intersectBody(A, B, topos=True, frameId=0, cyl=[])

intersect Body

A : np.array (3,) B : np.array (3,) topos : boolean frameId : 0 cyl : list

exclusion list

intersectnp.array (,ncyl)

O : AB not intersected by cylinder 1 : AB intersected by cylinder

intersectBody3(A, B, topos=True, frameId=0)

intersect body new version

A B topos frameId cyl

intersectnp.array (,ncyl)

O : AB not intersected by cylinder 1 : AB intersected by cylinder

load(_filebody='John.ini', _filemocap=[], unit=[], _filewear=[])

load a body ini file

_filebody : body short filename

A body .ini file contains 4 sections

• section [nodes]

Node number = Node name + section [cylinder] CylinderId = {‘t’:tail node number, ‘h’:head node number , ‘r’: cylinder’ radius} + section [wearable] + section [mocap]

loadC3D(filename='07_01.c3d', nframes=-1, unit='cm')

load nframes of motion capture C3D file

filenamestring

file name

nframesint

number of frames

unitstr (mm|cm|mm

unit of c3d file

rotlist [‘x’,’y’,’z’]

swap axes of the c3d file

movie(**kwargs)

creates a geomview movie

lframe : [] verbose : False topos : True wire : True ccs : False dcs : False struc : True traj : [] filestruc:’DLR.off’

Body.geomfile

network()

evaluate network topology and dynamics

This function evaluates distance, velocity and acceleration of the radio network nodes

self.D2 : distances between radio nodes self.V2 : velocities between radio nodes self.A2 : accelerations between radio nodes

plot3d(iframe=0, topos=False, fig=[], ax=[], col='b')

scatter 3d plot

iframe : int topos : boolean fig : ax : col : string

fig,ax

posvel(traj, t)

calculate position and velocity

trajTajectory DataFrame

nx3

tfloat

trajectory time for evaluation of topos

kf : frame integer index kt : trajectory integer index vsn : normalized speed vector along motion capture trajectory (source) wsn : planar vector orthogonal to vsn vtn : normalized speed vector along motion trajectory (target) wtn : planar vector orthogonal to wtn

This funtion takes as argument a trajectory which is a panda dataframe and a time value in the time scale of the trajectory.

t value should of course be in the interval between trajecroty extremal times tmin and tmax.

smax is the maximum distance covered in the whole motion capture sequence.

sk is the distance covered from the begining of the trajectory until the trajectory time t.

The ratio between those 2 distance is rounded to the nearest integer.

:math:`delta = s_k -lceil

rac{s_k}{s_{max}} s_{max}`

k_f is the index of the topos motion capture into the MOCAP

|__________|__________|____________|___________|_____

kf=2

tmin tmax 0 smax sk

rdpdf()

real device position dataframe

setacs()

set antenna coordinate system (acs) from a topos or a set of frames

setccs(frameId=0, topos=False)

set cylinder coordinate system

frameId : int frame id in the mocap dataframe (default 0) topos : boolean default False

self.ccs : ndarray (nc,3,3) Notes —–

There are as many frames as cylinders (body graph edges)

ccs is a MDA (nc x 3 x 3 ) where nc denotes the number of cylinders For each cylinder there is an attached coordinate systems

1st vector 2nd

setcs(topos=True, frameId=0)

set coordinates systems from a topos or a frame id

toposboolean

default : True

frameIdint

default 0

pylayers.mobility.ban.body.setccs() pylayers.mobility.ban.body.setdcs() pylayers.mobility.ban.body.setacs()

setdcs(topos=True, frameId=0)

set device coordinate system (dcs) from a topos

This method evaluates the set of all dcs. It provides the information necessary for device placement on the body.

If N is the number of antenna an dcs is an MDA of size 3x4xN

toposboolean

default : True

frameIdint

default 0

self.dcs : dictionnary

>>> import numpy as np
>>> import pylayers.mobility.trajectory as tr
>>> import pylayers.mobility.ban.body as body
>>> import matplotlib.pyplot as plt
>>> time = np.arange(0,10,0.1)
>>> v = 4000/3600.
>>> x = v*time
>>> y = np.zeros(len(time))
>>> traj = tr.Trajectory()
>>> traj.generate()
>>> bc = body.Body()
>>> bc.settopos(traj,2.3,2)
>>> bc.setccs(topos=True)
>>> bc.setdcs()
>>> bc.show(plane='yz',color='b',widthfactor=80)
>>> plt.show()

(Source code)

settopos(traj=[], t=0, cs=True, treadmill=False, p0=array([0., 0.]))

translate the body on a time stamped trajectory

traj : ndarray (3,N) t,x,y t : float time for evaluation of topos (seconds) this value should be in the range of the trajectory timestamp

self.topos self.vtopos

>>> import numpy as np
>>> import pylayers.mobility.trajectory as tr
>>> import pylayers.mobility.ban.body as body
>>> import matplotlib.pyplot as plt
>>> time = np.arange(0,10,0.1)
>>> v = 4000/3600.
>>> x = v*time
>>> y = np.zeros(len(time))
>>> traj = tr.Trajectory()
>>> traj.generate()
>>> John = body.Body()
>>> John.settopos(traj,2.3)
>>> fig,ax = John.show(plane='xz',color='b')
>>> plt.title('xz')
>>> plt.show()

(Source code)

topos is the current spatial global position of a body configuration. this method takes as argument a trajectory and a time value t in the trajectory time-scale.

pylayers.util.geomutil.affine

show(**kwargs)

show a 2D plane projection of the body

frameiId : int plane : string

‘yz’ | ‘xz’ | ‘xy’

widthfactor : int topos : boolean

default False

offset = np.array()

1,3

Todo

show3(**kwargs)

create geomfile for frame iframe

iframe : int frame number (useless if topos == True) topos : boolean if True shows the current body topos tag : aditional string for naming file .off (useless if topos==False)

time2frame(t)