pykinematics.imu.calibration.static

pykinematics.imu.calibration.static(lt_p_q, rt_p_q, pelvis_axis, l_thigh_axis, r_thigh_axis, pelvis_w, l_thigh_w, r_thigh_w, fs, window=1.0)

Process a static standing data to create the anatomical axes for the pelvis and thighs.

Parameters:

lt_p_q : numpy.ndarray

Nx4 array of quaternions representing the rotation from the left thigh to the pelvis.

rt_p_q : numpy.ndarray

Nx4 array of quaternions representing the rotation from the right thigh to the pelvis.

pelvis_axis : numpy.ndarray

Pelvis fixed axis.

l_thigh_axis : numpy.ndarray

Left thigh fixed axis.

r_thigh_axis : numpy.ndarray

Right thigh fixed axis.

pelvis_w : numpy.ndarray

Nx3 array of angular velocities measured by the pelvis sensor.

l_thigh_w : numpy.ndarray

Nx3 array of angular velocities measured by the left thigh sensor.

r_thigh_w : numpy.ndarray

Nx3 array of angular velocities measured by the right thigh sensor.

fs : float

Sampling frequency of the sensors.

window : float, optional

Length of time for the most still period. Default is 1.0s.

Returns:

pelvis_AF : tuple

Tuple of the x, y, and z axes of the pelvis anatomical frame.

l_thigh_AF : tuple

Tuple of the x, y, and z axes of the left thigh anatomical frame.

r_thigh_AF : tuple

Tuple of the x, y, and z axes of the right thigh anatomical frame.