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Copy pathdataset_reorg_UpperLimbV2.m
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dataset_reorg_UpperLimbV2.m
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%% Load Data & organize them in a cell struct
%Here i separe different frames of dataset as given by PS
[ndata, ~] = size(data);
% Change them
MkNUMBER = MkNOALL;
frame = 1;
data2 = [];
data1 = cell(1,1);
for i = 1:ndata
%here i create the cell structure
if data(i,5) ~= 0
data2 = [data2; data(i,[1 3:5])];
else
frame = frame + 1;
[n1, n2] = size(data2);
%here i replace missing mks with 0s (in order to be compatible with Visar's code)
if n1 ~= MkNUMBER
IDnow = data2(:,1);
missids = find_missing_id(IDnow,MkALL); %this function give missing ids. MkALL are sorted ids. missids are the missing ids
for l = 1 : length(missids)
aux = MkALL - missids(l);
index = find(~aux); %Find the position of missing mk in MkIDS
if i == 1
data2 = [data2(1:index-1,:); [missids(l) zeros(1,3)]; data2(index:end,:)];
elseif i > 1
OldValues = cell2mat(data1);
OldVal = OldValues(index,2:4);
data2 = [data2(1:index-1,:); [missids(l) OldVal]; data2(index:end,:)];
end
%data2 = [data2; [missids(l) zeros(1,3)]];
end
end
[n1, n2] = size(data2);
data1= [data1 mat2cell(data2,n1,n2)];
data2 = [];
end
%[mknr, mknc] = size(data2);
end
data1 = data1(2:end);
frame = frame-1;
clear data2
% Eliminate outliers by hand
% FrameToDelete = 220:250;
%
% for i = FrameToDelete
% tmp1 = cell2mat(data1(i));
% tmp1(:,2:4) = 0*tmp1(:,2:4);
% [n1, n2] = size(tmp1);
% data1(i) = mat2cell(tmp1,n1,n2);
% end
%% Define Local coords (chest supp) % Mk IDs
r = 43; %lunghezza stanghette
Gamma = pi/6; %Angolo fra le stanghette
hMK1 = 45; %quota led terzo piano
hMK2 = 40; %quota led secondo piano
hMK3 = 35; %quota led primo piano
hMK4 = 67; %quota led piano alto == lunghezza lato corto
d1 = 5; %lunghezza collo del led pi? alto (cappuccio)
StarLocalCoords = [r*cos(Gamma) r*sin(Gamma) hMK1;... %MK1
r 0 hMK2;... %MK2
r*cos(Gamma) -r*sin(Gamma) hMK3;... %MK3
0 0 hMK4]; %MK4
%% Rotate Data
RotatedData = cell(1,1);
%aaa = [];
for j = 1:frame
Frame_data = cell2mat(data1(j));
IDs = Frame_data(:,1);
Pos = Frame_data(:,2:end);
ReferencePos = Pos([find(IDs==ReferenceIDS(1)) find(IDs==ReferenceIDS(2)) find(IDs==ReferenceIDS(3)) find(IDs==ReferenceIDS(4))], :);
[ReferenceNMK, ~] = size(ReferencePos);
% If possible, calculate an updated Tr. homogeneous
if ReferenceNMK == 4 && ReferencePos(1,1)~=0 && ReferencePos(2,1)~=0 && ReferencePos(3,1)~=0 && ReferencePos(4,1)~=0;
[Ropt, dopt, ~, T_hom_inv] = OptimalRigidPose(StarLocalCoords, ReferencePos);
end
[MkNum, ~] = size(Frame_data);
clear Rotated_frame_data
Rotated_frame_data = [];
for k = 1:MkNum
if Pos(k,1) ~= 0
rotatedv = T_hom_inv*([Pos(k,:) 1]');
Rotated_frame_data(k,:) = rotatedv(1:3);
else
rotatedv = [Pos(k,:) 1]';
Rotated_frame_data(k,:) = rotatedv(1:3);
end
end
NewFrame = [IDs Rotated_frame_data];
[n1, n2] = size(NewFrame);
RotatedData = [ RotatedData mat2cell(NewFrame,n1,n2)];
end
RotatedData = RotatedData(2:end);
%save RotatedData RotatedData
% load Calibration measurements in a new form (accoarding to visar's structure)
% MKPos has NumFrame(CalibFrameNum) (30) rows and MkNO*3 colums (for each row xmk1 ymk1 zmk1 xmk2 etc... )
MKPos = zeros(frame, 1);
for i = 1 : frame
tmp1 = cell2mat(RotatedData(i)); % export from the cell
%tmp2 is a reorganization of tmp1 looking at correct list ok mks
tmp2 = tmp1([find(MkALL==ArmIDS(1)) find(MkALL==ArmIDS(2))...
find(MkALL==ArmIDS(3)) find(MkALL==ArmIDS(4))...
find(MkALL==ArmIDS(5)) find(MkALL==ArmIDS(6))...
find(MkALL==ForearmIDS(1)) find(MkALL==ForearmIDS(2))...
find(MkALL==ForearmIDS(3)) find(MkALL==ForearmIDS(4))...
find(MkALL==ForearmIDS(5)) find(MkALL==ForearmIDS(6))...
find(MkALL==HandIDS(1)) find(MkALL==HandIDS(2))...
find(MkALL==HandIDS(3)) find(MkALL==HandIDS(4))],:);
for j = 1 : MkNOUL-4
MKPos(i, 1 +(j-1)*3 : 3 +(j-1)*3) = tmp2(j,2:4);
end
end
%%% find(MkALL==ReferenceIDS(1)) find(MkALL==ReferenceIDS(2))...
%%% find(MkALL==ReferenceIDS(3)) find(MkALL==ReferenceIDS(4))...
clear tmp1 tmp2
%% Plots
figure;hold on;
for i = 300
data_frame_i = cell2mat(RotatedData(i));
for j = 1 : length(data_frame_i(:,1))
%if data_frame_i(j,1) == 47 || data_frame_i(j,1) == 40 || data_frame_i(j,1) == 42 || data_frame_i(j,1) == 43
plot3(data_frame_i(j,2),data_frame_i(j,3),data_frame_i(j,4),'r*')
%[i data_frame_i(j,2),data_frame_i(j,3),data_frame_i(j,4)]
%end
end
end
plot3([0 100],[0 0],[0 0],'r')
plot3([0 0],[0 100],[0 0],'g')
plot3([0 0],[0 0],[0 100],'b')
%% Plots1
% figure;hold on;
% for i = 20
% data_frame_i = cell2mat(RotatedData(i));
% plot3(data_frame_i(j,2),data_frame_i(j,3),data_frame_i(j,4),'r*')
% %for j = 1 : length(data_frame_i(:,1))
% %if data_frame_i(j,1) == 47 || data_frame_i(j,1) == 40 || data_frame_i(j,1) == 42 || data_frame_i(j,1) == 43
% plot3(data_frame_i(2,2),data_frame_i(2,3),data_frame_i(2,4),'r*') %id 5 %Hand
% plot3(data_frame_i(7,2),data_frame_i(7,3),data_frame_i(7,4),'g*') %id 10
% plot3(data_frame_i(5,2),data_frame_i(5,3),data_frame_i(5,4),'b*') %id 8
% plot3(data_frame_i(6,2),data_frame_i(6,3),data_frame_i(6,4),'k*') %id 9
%
% plot3(data_frame_i(31,2),data_frame_i(31,3),data_frame_i(31,4),'r*') %id 46 %forearm
% plot3(data_frame_i(30,2),data_frame_i(30,3),data_frame_i(30,4),'g*') %id 45
% plot3(data_frame_i(26,2),data_frame_i(26,3),data_frame_i(26,4),'b*') %id 41
% plot3(data_frame_i(29,2),data_frame_i(29,3),data_frame_i(29,4),'k*') %id 44
%
% plot3(data_frame_i(27,2),data_frame_i(27,3),data_frame_i(27,4),'r*') %id 42 %arm
% plot3(data_frame_i(28,2),data_frame_i(28,3),data_frame_i(28,4),'g*') %id 43
% plot3(data_frame_i(25,2),data_frame_i(25,3),data_frame_i(25,4),'b*') %id 40
% plot3(data_frame_i(32,2),data_frame_i(32,3),data_frame_i(32,4),'k*') %id 47
%
% plot3(data_frame_i(33,2),data_frame_i(33,3),data_frame_i(33,4),'k*') %id 52 %star
% plot3(data_frame_i(34,2),data_frame_i(34,3),data_frame_i(34,4),'k*') %id 53
% plot3(data_frame_i(35,2),data_frame_i(35,3),data_frame_i(35,4),'k*') %id 54
% plot3(data_frame_i(36,2),data_frame_i(36,3),data_frame_i(36,4),'k*') %id 56
%
% %[i data_frame_i(j,2),data_frame_i(j,3),data_frame_i(j,4)]
% %end
% %end
%
% end
% plot3([0 100],[0 0],[0 0],'r')
% plot3([0 0],[0 100],[0 0],'g')
% plot3([0 0],[0 0],[0 100],'b')
%% Occlusion Statistics
dirName = 'plots/ARM/';
OcclMK = [MkALL; zeros(1,MkNOALL)];
MKNOFR = [];
for i = 1 : frame
data_frame_i = cell2mat(RotatedData(i));
IDs = data_frame_i(:,1);
Pos = data_frame_i(:,2:end);
[MkNum, ~] = size(data_frame_i);
MkNum1 = MkNum;
for k = 1:MkNum
if Pos(k,1) == 0
OcclMK(2,k) = OcclMK(2,k)+1;
MkNum1 = MkNum1-1;
end
end
MKNOFR = [MKNOFR MkNum1];
end
plotName = ['MkOcclusionStatistics' Subject Filename];
figure; bar(OcclMK(1,:),OcclMK(2,:)/frame*100);title('Statistics of Marker Occlusions in % of time span')
axis([0 72 0 100])
ax = gca;
ax.XTick = MkALL;
ax.YTick = 0:10:100;
xlabel ('Marker Number')
ylabel ('% of occlusion time')
saveas(gcf,strcat(dirName,plotName,'.fig'));
saveas(gcf,strcat(dirName,plotName,'.jpg'));
plotName = ['NumberMkSeen' Subject Filename];
figure; plot(MKNOFR,'r*');title('Number of Marker Seen')
xlabel ('Marker Number')
ylabel ('Number of Marker Seen')
saveas(gcf,strcat(dirName,plotName,'.fig'));
saveas(gcf,strcat(dirName,plotName,'.jpg'));
%% Filtering
%Find central point for each support at frame i
CarmMAT = [];
CforearmMAT = [];
ChandMAT = [];
phi_F_A_MAT = [];
psi_F_A_MAT = [];
theta_F_A_MAT = [];
phi_F_F_MAT = [];
psi_F_F_MAT = [];
theta_F_F_MAT = [];
phi_F_H_MAT = [];
psi_F_H_MAT = [];
theta_F_H_MAT = [];
for i = 1 : frame
%%%%%Arm plate
ArmP1 = MKPos(i,1:3);
ArmP2 = MKPos(i,4:6);
ArmP3 = MKPos(i,7:9);
ArmP4 = MKPos(i,10:12);
ArmP5 = MKPos(i,13:15);
ArmP6 = MKPos(i,16:18);
%%%%%Forearm plate
ForearmP1 = MKPos(i,19:21);
ForearmP2 = MKPos(i,22:24);
ForearmP3 = MKPos(i,25:27);
ForearmP4 = MKPos(i,28:30);
ForearmP5 = MKPos(i,31:33);
ForearmP6 = MKPos(i,34:36);
%%%%%Hand plate
HandP1 = MKPos(i,37:39);
HandP2 = MKPos(i,40:42);
HandP3 = MKPos(i,43:45);
HandP4 = MKPos(i,46:48);
%%%%%Fixed Ref Sys
Xfixed = [1 0 0];
Yfixed = [0 1 0];
Zfixed = [0 0 1];
%%%%%Arm Ref Sys
if ArmP2(1) ~= 0 && ArmP1(1) ~= 0
Xarm = ArmP1-ArmP2;
elseif ArmP4(1) ~= 0 && ArmP3(1) ~= 0
Xarm = ArmP3-ArmP4;
elseif ArmP6(1) ~= 0 && ArmP5(1) ~= 0
Xarm = ArmP5-ArmP6;
else
Xarm = XarmOLD;
end
Xarm = Xarm/norm(Xarm);
XarmOLD = Xarm;
if ArmP1(1) ~= 0 && ArmP3(1) ~= 0
Zarm = ArmP3-ArmP1;
elseif ArmP2(1) ~= 0 && ArmP4(1) ~= 0
Zarm = ArmP4-ArmP2;
elseif ArmP1(1) ~= 0 && ArmP5(1) ~= 0
Zarm = ArmP5-ArmP1;
elseif ArmP2(1) ~= 0 && ArmP6(1) ~= 0
Zarm = ArmP6-ArmP2;
elseif ArmP3(1) ~= 0 && ArmP5(1) ~= 0
Zarm = ArmP5-ArmP3;
elseif ArmP4(1) ~= 0 && ArmP6(1) ~= 0
Zarm = ArmP6-ArmP4;
else
Zarm = ZarmOLD;
end
Zarm = Zarm/norm(Zarm);
ZarmOLD = Zarm;
Yarm = cross(Zarm,Xarm);
Yarm = Yarm/norm(Yarm);
%%%%%Forearm Ref Sys
if ForearmP2(1) ~= 0 && ForearmP1(1) ~= 0
Xforearm = ForearmP1-ForearmP2;
elseif ForearmP4(1) ~= 0 && ForearmP3(1) ~= 0
Xforearm = ForearmP3-ForearmP4;
elseif ForearmP6(1) ~= 0 && ForearmP5(1) ~= 0
Xforearm = ForearmP5-ForearmP6;
else
Xforearm = XforearmOLD;
end
Xforearm = Xforearm/norm(Xforearm);
XforearmOLD = Xforearm;
if ForearmP1(1) ~= 0 && ForearmP3(1) ~= 0
Zforearm = ForearmP3-ForearmP1;
elseif ForearmP2(1) ~= 0 && ForearmP4(1) ~= 0
Zforearm = ForearmP4-ForearmP2;
elseif ForearmP1(1) ~= 0 && ForearmP5(1) ~= 0
Zforearm = ForearmP5-ForearmP1;
elseif ForearmP2(1) ~= 0 && ForearmP6(1) ~= 0
Zforearm = ForearmP6-ForearmP2;
elseif ForearmP3(1) ~= 0 && ForearmP5(1) ~= 0
Zforearm = ForearmP5-ForearmP3;
elseif ForearmP4(1) ~= 0 && ForearmP6(1) ~= 0
Zforearm = ForearmP6-ForearmP4;
else
Zforearm = ZforearmOLD;
end
Zforearm = Zforearm/norm(Zforearm);
ZforearmOLD = Zforearm;
Yforearm = cross(Zforearm,Xforearm);
Yforearm = Yforearm/norm(Yforearm);
%%%%%Hand Ref Sys
if HandP1(1) ~= 0 && HandP2(1) ~= 0
Xhand = HandP1-HandP2;
elseif HandP3(1) ~= 0 && HandP4(1) ~= 0
Xhand = HandP3-HandP4;
else
Xhand = XhandOLD;
end
Xhand = Xhand/norm(Xhand);
XhandOLD = Xhand;
if HandP3(1) ~= 0 && HandP1(1) ~= 0
Zhand = HandP3-HandP1;
elseif HandP4(1) ~= 0 && HandP2(1) ~= 0
Zhand = HandP4-HandP2;
else
Zhand = ZhandOLD;
end
Zhand = Zhand/norm(Zhand);
ZhandOLD = Zhand;
Yhand = cross(Zhand,Xhand);
Yhand = Yhand/norm(Yhand);
%%%%%Centers
if ArmP1(1) ~= 0 && ArmP6(1) ~= 0
Carm = ArmP1 + (ArmP6-ArmP1)/2;
elseif ArmP2(1) ~= 0 && ArmP5(1) ~= 0
Carm = ArmP2 + (ArmP5-ArmP2)/2;
elseif ArmP4(1) ~= 0 && ArmP3(1) ~= 0
Carm = ArmP4 + (ArmP3-ArmP4)/2;
else
Carm = CarmOLD;
end
CarmOLD = Carm;
if ForearmP1(1) ~= 0 && ForearmP6(1) ~= 0
Cforearm = ForearmP1 + (ForearmP6-ForearmP1)/2;
elseif ForearmP2(1) ~= 0 && ForearmP5(1) ~= 0
Cforearm = ForearmP2 + (ForearmP5-ForearmP2)/2;
elseif ForearmP4(1) ~= 0 && ForearmP3(1) ~= 0
Cforearm = ForearmP4 + (ForearmP3-ForearmP4)/2;
else
Cforearm = CforearmOLD;
end
CforearmOLD = Cforearm;
if HandP4(1) ~= 0 && HandP1(1) ~= 0
Chand = HandP4 + (HandP1-HandP4)/2;
elseif HandP2(1) ~= 0 && HandP3(1) ~= 0
Chand = HandP2 + (HandP3-HandP2)/2;
else
Chand = ChandOLD;
end
ChandOLD = Chand;
%%%%%Rotations
RefFix = [Xfixed' Yfixed' Zfixed'];
RefArm = [Xarm' Yarm' Zarm'];
RefForearm = [Xforearm' Yforearm' Zforearm'];
RefHand = [Xhand' Yhand' Zhand'];
%%%%%%%%%%%%%%%%%%%%%%%%%%% Wahba's problem %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BA = RefArm';
BF = RefForearm';
BH = RefHand';
[UA, SA, VA] = svd(BA);
[UF, SF, VF] = svd(BF);
[UH, SH, VH] = svd(BH);
MA = [1 0 0; 0 1 0; 0 0 det(UA)*det(VA)];
MF = [1 0 0; 0 1 0; 0 0 det(UF)*det(VF)];
MH = [1 0 0; 0 1 0; 0 0 det(UH)*det(VH)];
R_F_A = UA*MA*VA';
R_F_F = UF*MF*VF';
R_F_H = UH*MH*VH';
% R_F_A = RefArm/RefFix;%RefArm*inv(RefFix); %Rotation from Fixed ref sys to Arm ref sys
% R_F_F = RefForearm/RefFix;%RefForearm*inv(RefFix); %Rotation from Fixed ref sys to Forearm ref sys
% R_F_H = RefHand/RefFix;%RefHand*inv(RefFix); %Rotation from Fixed ref sys to Hand ref sys
phi_F_A = atan2(R_F_A(1,3),-R_F_A(2,3));
psi_F_A = atan2(-cos(phi_F_A)*R_F_A(1,2)-sin(phi_F_A)*R_F_A(2,2), cos(phi_F_A)*R_F_A(1,1)+sin(phi_F_A)*R_F_A(2,1));
theta_F_A = atan2(sin(phi_F_A)*R_F_A(1,3)-cos(phi_F_A)*R_F_A(2,3),R_F_A(3,3));
phi_F_F = atan2(R_F_F(1,3),-R_F_F(2,3));
psi_F_F = atan2(-cos(phi_F_F)*R_F_F(1,2)-sin(phi_F_F)*R_F_F(2,2), cos(phi_F_F)*R_F_F(1,1)+sin(phi_F_F)*R_F_F(2,1));
theta_F_F = atan2(sin(phi_F_F)*R_F_F(1,3)-cos(phi_F_F)*R_F_F(2,3),R_F_F(3,3));
phi_F_H = atan2(R_F_H(1,3),-R_F_H(2,3));
psi_F_H = atan2(-cos(phi_F_H)*R_F_H(1,2)-sin(phi_F_H)*R_F_H(2,2), cos(phi_F_H)*R_F_H(1,1)+sin(phi_F_H)*R_F_H(2,1));
theta_F_H = atan2(sin(phi_F_H)*R_F_H(1,3)-cos(phi_F_H)*R_F_H(2,3),R_F_H(3,3));
%%%%%Export values for filtering
CarmMAT = [CarmMAT Carm'];
CforearmMAT = [CforearmMAT Cforearm'];
ChandMAT = [ChandMAT Chand'];
phi_F_A_MAT = [phi_F_A_MAT phi_F_A];
psi_F_A_MAT = [psi_F_A_MAT psi_F_A];
theta_F_A_MAT = [theta_F_A_MAT theta_F_A];
phi_F_F_MAT = [phi_F_F_MAT phi_F_F];
psi_F_F_MAT = [psi_F_F_MAT psi_F_F];
theta_F_F_MAT = [theta_F_F_MAT theta_F_F];
phi_F_H_MAT = [phi_F_H_MAT phi_F_H];
psi_F_H_MAT = [psi_F_H_MAT psi_F_H];
theta_F_H_MAT = [theta_F_H_MAT theta_F_H];
end
%%%%%%% Smoothing %%%%%%%
span = 15;
CarmMATs = [];
CforearmMATs = [];
ChandMATs = [];
phi_F_A_MATs = [];
psi_F_A_MATs = [];
theta_F_A_MATs = [];
phi_F_F_MATs = [];
psi_F_F_MATs = [];
theta_F_F_MATs = [];
phi_F_H_MATs = [];
psi_F_H_MATs = [];
theta_F_H_MATs = [];
CarmMATs(1,:) = smooth(CarmMAT(1,:),span);
CarmMATs(2,:) = smooth(CarmMAT(2,:),span);
CarmMATs(3,:) = smooth(CarmMAT(3,:),span);
CforearmMATs(1,:) = smooth(CforearmMAT(1,:),span);
CforearmMATs(2,:) = smooth(CforearmMAT(2,:),span);
CforearmMATs(3,:) = smooth(CforearmMAT(3,:),span);
ChandMATs(1,:) = smooth(ChandMAT(1,:),span);
ChandMATs(2,:) = smooth(ChandMAT(2,:),span);
ChandMATs(3,:) = smooth(ChandMAT(3,:),span);
phi_F_A_MATs = smooth(phi_F_A_MAT,span);
psi_F_A_MATs = smooth(psi_F_A_MAT,span);
theta_F_A_MATs = smooth(theta_F_A_MAT,span);
phi_F_F_MATs = smooth(phi_F_F_MAT,span);
psi_F_F_MATs = smooth(psi_F_F_MAT,span);
theta_F_F_MATs = smooth(theta_F_F_MAT,span);
phi_F_H_MATs = smooth(phi_F_H_MAT,span);
psi_F_H_MATs = smooth(psi_F_H_MAT,span);
theta_F_H_MATs = smooth(theta_F_H_MAT,span);
%%%%%%% Re-Create Dataset %%%%%%%
MKPosSmoothed = [];
for i = 1 : frame
%%%%%Define New MK Pos MkSuppDimensions = [15 7]
LargeBaseX = MkSuppDimensions(3);
LargeBaseZ = MkSuppDimensions(4);
SmallBaseX = MkSuppDimensions(1);
SmallBaseZ = MkSuppDimensions(2);
%%%%%Arm plate
ArmP1 = [ LargeBaseX 0 -LargeBaseZ];
ArmP2 = [-LargeBaseX 0 -LargeBaseZ];
ArmP3 = [ LargeBaseX 0 0];
ArmP4 = [-LargeBaseX 0 0];
ArmP5 = [ LargeBaseX 0 LargeBaseZ];
ArmP6 = [-LargeBaseX 0 LargeBaseZ];
%%%%%Forearm plate
ForearmP1 = [ LargeBaseX 0 -LargeBaseZ];
ForearmP2 = [-LargeBaseX 0 -LargeBaseZ];
ForearmP3 = [ LargeBaseX 0 0];
ForearmP4 = [-LargeBaseX 0 0];
ForearmP5 = [ LargeBaseX 0 LargeBaseZ];
ForearmP6 = [-LargeBaseX 0 LargeBaseZ];
%%%%%Hand plate
HandP1 = [ SmallBaseX 0 -SmallBaseZ];
HandP2 = [-SmallBaseX 0 -SmallBaseZ];
HandP3 = [ SmallBaseX 0 SmallBaseZ];
HandP4 = [-SmallBaseX 0 SmallBaseZ];
%%%%%Rotate Arm Mk Pos
R_F_As = EulerRotMatrix(phi_F_A_MATs(i), theta_F_A_MATs(i), psi_F_A_MATs(i));
ArmP1 = R_F_As*ArmP1';
ArmP2 = R_F_As*ArmP2';
ArmP3 = R_F_As*ArmP3';
ArmP4 = R_F_As*ArmP4';
ArmP5 = R_F_As*ArmP5';
ArmP6 = R_F_As*ArmP6';
%%%%%Rotate Forearm Mk Pos
R_F_Fs = EulerRotMatrix(phi_F_F_MATs(i), theta_F_F_MATs(i), psi_F_F_MATs(i));
ForearmP1 = R_F_Fs*ForearmP1';
ForearmP2 = R_F_Fs*ForearmP2';
ForearmP3 = R_F_Fs*ForearmP3';
ForearmP4 = R_F_Fs*ForearmP4';
ForearmP5 = R_F_Fs*ForearmP5';
ForearmP6 = R_F_Fs*ForearmP6';
%%%%%Rotate Hand Mk Pos
R_F_Hs = EulerRotMatrix(phi_F_H_MATs(i), theta_F_H_MATs(i), psi_F_H_MATs(i));
HandP1 = R_F_Hs*HandP1';
HandP2 = R_F_Hs*HandP2';
HandP3 = R_F_Hs*HandP3';
HandP4 = R_F_Hs*HandP4';
%%%%%Move Arm Mk Pos
ArmP1 = CarmMATs(:,i) + ArmP1;
ArmP2 = CarmMATs(:,i) + ArmP2;
ArmP3 = CarmMATs(:,i) + ArmP3;
ArmP4 = CarmMATs(:,i) + ArmP4;
ArmP5 = CarmMATs(:,i) + ArmP5;
ArmP6 = CarmMATs(:,i) + ArmP6;
%%%%%Move Forearm Mk Pos
ForearmP1 = CforearmMATs(:,i) + ForearmP1;
ForearmP2 = CforearmMATs(:,i) + ForearmP2;
ForearmP3 = CforearmMATs(:,i) + ForearmP3;
ForearmP4 = CforearmMATs(:,i) + ForearmP4;
ForearmP5 = CforearmMATs(:,i) + ForearmP5;
ForearmP6 = CforearmMATs(:,i) + ForearmP6;
%%%%%Move Hand Mk Pos
HandP1 = ChandMATs(:,i) + HandP1;
HandP2 = ChandMATs(:,i) + HandP2;
HandP3 = ChandMATs(:,i) + HandP3;
HandP4 = ChandMATs(:,i) + HandP4;
MKPosSmoothedi = [ArmP1' ArmP2' ArmP3' ArmP4' ArmP5' ArmP6' ForearmP1' ForearmP2' ForearmP3' ForearmP4' ForearmP5' ForearmP6' HandP1' HandP2' HandP3' HandP4'];
MKPosSmoothed = [MKPosSmoothed; MKPosSmoothedi];
end
%% Plotting Filtering Effects
figure;
subplot(3,6,1); plot(MKPos(:,1),'r'); hold on;plot(MKPosSmoothed(:,1),'g'); title('Mk1 Arm x');grid;
subplot(3,6,7); plot(MKPos(:,2),'r'); hold on;plot(MKPosSmoothed(:,2),'g'); title('Mk1 Arm y');grid;
subplot(3,6,13);plot(MKPos(:,3),'r'); hold on;plot(MKPosSmoothed(:,3),'g'); title('Mk1 Arm z');grid;
subplot(3,6,2); plot(MKPos(:,4),'r'); hold on;plot(MKPosSmoothed(:,4),'g'); title('Mk2 Arm x');grid;
subplot(3,6,8); plot(MKPos(:,5),'r'); hold on;plot(MKPosSmoothed(:,5),'g'); title('Mk2 Arm y');grid;
subplot(3,6,14);plot(MKPos(:,6),'r'); hold on;plot(MKPosSmoothed(:,6),'g'); title('Mk2 Arm z');grid;
subplot(3,6,3); plot(MKPos(:,7),'r'); hold on;plot(MKPosSmoothed(:,7),'g'); title('Mk3 Arm x');grid;
subplot(3,6,9); plot(MKPos(:,8),'r'); hold on;plot(MKPosSmoothed(:,8),'g'); title('Mk3 Arm y');grid;
subplot(3,6,15);plot(MKPos(:,9),'r'); hold on;plot(MKPosSmoothed(:,9),'g'); title('Mk3 Arm z');grid;
subplot(3,6,4); plot(MKPos(:,10),'r');hold on;plot(MKPosSmoothed(:,10),'g');title('Mk4 Arm x');grid;
subplot(3,6,10);plot(MKPos(:,11),'r');hold on;plot(MKPosSmoothed(:,11),'g');title('Mk4 Arm y');grid;
subplot(3,6,16);plot(MKPos(:,12),'r');hold on;plot(MKPosSmoothed(:,12),'g');title('Mk4 Arm z');grid;
subplot(3,6,5); plot(MKPos(:,13),'r');hold on;plot(MKPosSmoothed(:,13),'g');title('Mk5 Arm x');grid;
subplot(3,6,11);plot(MKPos(:,14),'r');hold on;plot(MKPosSmoothed(:,14),'g');title('Mk5 Arm y');grid;
subplot(3,6,17);plot(MKPos(:,15),'r');hold on;plot(MKPosSmoothed(:,15),'g');title('Mk5 Arm z');grid;
subplot(3,6,6); plot(MKPos(:,16),'r');hold on;plot(MKPosSmoothed(:,16),'g');title('Mk6 Arm x');grid;
subplot(3,6,12);plot(MKPos(:,17),'r');hold on;plot(MKPosSmoothed(:,17),'g');title('Mk6 Arm y');grid;
subplot(3,6,18);plot(MKPos(:,18),'r');hold on;plot(MKPosSmoothed(:,18),'g');title('Mk6 Arm z');grid;
figure;
subplot(3,6,1); plot(MKPos(:,19),'r');hold on;plot(MKPosSmoothed(:,19),'g');title('Mk1 Forearm x');grid;
subplot(3,6,7); plot(MKPos(:,20),'r');hold on;plot(MKPosSmoothed(:,20),'g');title('Mk1 Forearm y');grid;
subplot(3,6,13);plot(MKPos(:,21),'r');hold on;plot(MKPosSmoothed(:,21),'g');title('Mk1 Forearm z');grid;
subplot(3,6,2); plot(MKPos(:,22),'r');hold on;plot(MKPosSmoothed(:,22),'g');title('Mk2 Forearm x');grid;
subplot(3,6,8); plot(MKPos(:,23),'r');hold on;plot(MKPosSmoothed(:,23),'g');title('Mk2 Forearm y');grid;
subplot(3,6,14);plot(MKPos(:,24),'r');hold on;plot(MKPosSmoothed(:,24),'g');title('Mk2 Forearm z');grid;
subplot(3,6,3); plot(MKPos(:,25),'r');hold on;plot(MKPosSmoothed(:,25),'g');title('Mk3 Forearm x');grid;
subplot(3,6,9); plot(MKPos(:,26),'r');hold on;plot(MKPosSmoothed(:,26),'g');title('Mk3 Forearm y');grid;
subplot(3,6,15);plot(MKPos(:,27),'r');hold on;plot(MKPosSmoothed(:,27),'g');title('Mk3 Forearm z');grid;
subplot(3,6,4); plot(MKPos(:,28),'r');hold on;plot(MKPosSmoothed(:,28),'g');title('Mk4 Forearm x');grid;
subplot(3,6,10);plot(MKPos(:,29),'r');hold on;plot(MKPosSmoothed(:,29),'g');title('Mk4 Forearm y');grid;
subplot(3,6,16);plot(MKPos(:,30),'r');hold on;plot(MKPosSmoothed(:,30),'g');title('Mk4 Forearm z');grid;
subplot(3,6,5); plot(MKPos(:,31),'r');hold on;plot(MKPosSmoothed(:,31),'g');title('Mk5 Forearm x');grid;
subplot(3,6,11);plot(MKPos(:,32),'r');hold on;plot(MKPosSmoothed(:,32),'g');title('Mk5 Forearm y');grid;
subplot(3,6,17);plot(MKPos(:,33),'r');hold on;plot(MKPosSmoothed(:,33),'g');title('Mk5 Forearm z');grid;
subplot(3,6,6); plot(MKPos(:,34),'r');hold on;plot(MKPosSmoothed(:,34),'g');title('Mk6 Forearm x');grid;
subplot(3,6,12);plot(MKPos(:,35),'r');hold on;plot(MKPosSmoothed(:,35),'g');title('Mk6 Forearm y');grid;
subplot(3,6,18);plot(MKPos(:,36),'r');hold on;plot(MKPosSmoothed(:,36),'g');title('Mk6 Forearm z');grid;
figure;
subplot(3,4,1); plot(MKPos(:,37),'r');hold on;plot(MKPosSmoothed(:,37),'g');title('Mk1 Hand x');grid;
subplot(3,4,5); plot(MKPos(:,38),'r');hold on;plot(MKPosSmoothed(:,38),'g');title('Mk1 Hand y');grid;
subplot(3,4,9); plot(MKPos(:,39),'r');hold on;plot(MKPosSmoothed(:,39),'g');title('Mk1 Hand z');grid;
subplot(3,4,2); plot(MKPos(:,40),'r');hold on;plot(MKPosSmoothed(:,40),'g');title('Mk2 Hand x');grid;
subplot(3,4,6); plot(MKPos(:,41),'r');hold on;plot(MKPosSmoothed(:,41),'g');title('Mk2 Hand y');grid;
subplot(3,4,10);plot(MKPos(:,42),'r');hold on;plot(MKPosSmoothed(:,42),'g');title('Mk2 Hand z');grid;
subplot(3,4,3); plot(MKPos(:,43),'r');hold on;plot(MKPosSmoothed(:,43),'g');title('Mk3 Hand x');grid;
subplot(3,4,7); plot(MKPos(:,44),'r');hold on;plot(MKPosSmoothed(:,44),'g');title('Mk3 Hand y');grid;
subplot(3,4,11);plot(MKPos(:,45),'r');hold on;plot(MKPosSmoothed(:,45),'g');title('Mk3 Hand z');grid;
subplot(3,4,4); plot(MKPos(:,46),'r');hold on;plot(MKPosSmoothed(:,46),'g');title('Mk4 Hand x');grid;
subplot(3,4,8); plot(MKPos(:,47),'r');hold on;plot(MKPosSmoothed(:,47),'g');title('Mk4 Hand y');grid;
subplot(3,4,12);plot(MKPos(:,48),'r');hold on;plot(MKPosSmoothed(:,48),'g');title('Mk4 Hand z');grid;
drawnow
%MKPosSmoothed = MKPos;