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start [2018/09/11 10:36] – [Changelog] oliver | start [2022/02/07 13:23] – [Changelog] oliver | ||
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====== Introduction ====== | ====== Introduction ====== | ||
=====What is it?===== | =====What is it?===== | ||
- | The **Nimue platform** is a set of modules to build up applications in the scientific field of motion analysis (gait analysis, sport sciences, ...). In the vocabulary of the [[https:// | + | The **Nimue platform** is a set of modules to build up applications in the scientific field of motion analysis (gait analysis, sport sciences, |
The **Nimue plaform** includes implementations of a lot of mathematical algorithms for 3d analyses, graphical components for visualisation and also utilities to model the workflow of measurements and analyses. It is made for easy integration of measurement systems (markerbased optical-, inertial sensor based systems, ...) and their specific data file formats. | The **Nimue plaform** includes implementations of a lot of mathematical algorithms for 3d analyses, graphical components for visualisation and also utilities to model the workflow of measurements and analyses. It is made for easy integration of measurement systems (markerbased optical-, inertial sensor based systems, ...) and their specific data file formats. | ||
- | Most parts of the **Nimue platform** will be made available **open source** again, via [[https:// | + | Most parts of the **Nimue platform** will be made available **open source** again, via [[https:// |
- | This is a draft version of the manual for version 2.2 of the Nimue Platform. It is far away from completeness. There are hundrets of htm-pages which must be transfered to this Wiki. During this process I want to update its content and this needs a lot of time. | + | This is a draft version of the manual for version 2.2 of the Nimue Platform. It is far away from completeness. There are hundrets of html-pages which must be transfered to this Wiki. During this process I want to update its content and this needs a lot of time. |
It gives you an overview about the main structure and features. You should read this document, if you are interested in developing motion analysis applications, | It gives you an overview about the main structure and features. You should read this document, if you are interested in developing motion analysis applications, | ||
Zeile 20: | Zeile 20: | ||
In the following years many non mathematical orientated modules are added and a lot of non research applications are realized by the company [[http:// | In the following years many non mathematical orientated modules are added and a lot of non research applications are realized by the company [[http:// | ||
- | In the years 2003-2008 advanced components for **motion analysis** are added and the specialized components bundle **Nimue for motion analysis** was established. | + | In the years 2003-2008 advanced components for **motion analysis** are added and the specialized components bundle **Nimue for motion analysis** was established. It was used for the application [[http:// |
The extention of the framwork for **inertial sensor based applications** is started in Mai 2009 initially for the usage in the European community funded project [[http:// | The extention of the framwork for **inertial sensor based applications** is started in Mai 2009 initially for the usage in the European community funded project [[http:// | ||
+ | |||
+ | Since Sep. 2017 the Nimue platform is used in the [[https:// | ||
===== Changelog ===== | ===== Changelog ===== | ||
Zeile 28: | Zeile 30: | ||
=== Unreleased === | === Unreleased === | ||
- | == Upperlimb | + | ----------------- |
+ | == Nimue Platform | ||
+ | ----------------- | ||
+ | |||
+ | **Fixed** | ||
+ | |||
+ | * Dataminer: Calculation of standard deviations failed | ||
+ | * DH Calc Element: modified dh and classical dh, index numbers start now at meaningfull positions. | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.104 - 2021-11 == | ||
+ | ----------------- | ||
+ | |||
+ | **Fixed** | ||
+ | |||
+ | * < | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.103 - 2021-10 == | ||
+ | ----------------- | ||
**Added** | **Added** | ||
+ | |||
+ | * Method getFramesOfEachIntervall() extended to be able to get frames also from phases | ||
+ | * Added functionality to DenavitHartenberg Calc element to determine mean/std of d,r,alpha and theta values directly as parameters calculated by the element itself. | ||
+ | * Added warning messages if a filter results in a complete trajectory with at minimum of one component is NaN for each frame | ||
+ | * Addes " | ||
+ | * Element to calculate forward kinematics based on Denavit Hartenberg convention | ||
+ | |||
+ | **Fixed** | ||
+ | |||
+ | * Added test for all values to be equal of 0.0 of matrix-3d objects and set them them to Double.MINVALUE if not all values are exatly 0.0 to exclude them for substitution by the Vicon WORKAROUND filter isersoSelective-Filter. | ||
+ | * Wrong ResouceBundle name " | ||
+ | * Fixed constructor of DualVector6e elements used in the DH-element. | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.102 - 2021-09 == | ||
+ | ----------------- | ||
+ | |||
+ | **Added** | ||
+ | * New attribute " | ||
+ | * New element <DH> to determine several variants of DH-parameters from circle fits. | ||
+ | * New Datamining parameter Types: " | ||
+ | * Completion of RANSAC-Linear-Filter to preprocess static measurement-data to eliminate outliers. | ||
+ | * Support for filtering of quaternion-type timeseries during trial-loading for processing | ||
+ | * Added " | ||
+ | * Additional attributes " | ||
+ | * New attribute " | ||
+ | |||
+ | **Fixed** | ||
+ | * Loading RANSAC-Linear filter failed due to wrong specification of implementation class name | ||
+ | * Filterchain interation - only the first filter was used | ||
+ | * Event-Docu corrected | ||
+ | |||
+ | **ToDo** | ||
+ | * Filter zero2nan for matrix3x3, not only all zero but also unit-matrix with 1 in diagonal elements | ||
+ | * Workaround that fills all components of a matrix3d to NaN if ransaclin() has set only some of them to NaN | ||
+ | * if group names inclunde " | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.101 - 2021-07 == | ||
+ | ----------------- | ||
+ | |||
+ | **Added** | ||
+ | * New function ddist(A, | ||
+ | * New property " | ||
+ | * New function mdho() to determine the origin of a coordinate system based on modifed Denavit Hartenberg convention | ||
+ | * New function mdh() to determine the 4x4-Matrix of modified Denavit Hartenberg convention | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.100 - 2021-04 == | ||
+ | ----------------- | ||
+ | **Fixed** | ||
+ | * The calculation element " | ||
+ | * The < | ||
+ | * The < | ||
+ | * The < | ||
+ | * The < | ||
+ | * poc()-function bug fixed | ||
+ | |||
+ | **Added** | ||
+ | * Timeseries read to be processed can be renamed defined by a mapping element in the input labelset. This was implemented explicit for GenericData, | ||
+ | * New feature: Attribute " | ||
+ | * New feature: The element < | ||
+ | * Documentation for the < | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.99 - 2020-12 == | ||
+ | ----------------- | ||
**Changed** | **Changed** | ||
- | | + | * The axes calculated with AoR estimation based on the SARA algorithm are now normalized. |
+ | * The attribute " | ||
+ | * AoRSARA: Missing or not available movingCoordinateSystem/ | ||
+ | |||
+ | **Added** | ||
+ | * PointSetFit calc-element to fit two point sets based on singular value decomposition. | ||
+ | * Transpose function t() for 4x4 matrix type | ||
+ | * implemenation of iCoordinateSystem in the PointSetFit element to use the element name as a reference in the attributes of AoR-circle-fit calculation elements. | ||
+ | * The DataExplorer is now able to collect trial data from more than one motiondata file e.g. v3d and rtde, into one DataCollection, | ||
+ | * PointSetFit: | ||
+ | * PointSetFit: | ||
+ | * PointSetFit: | ||
+ | * Export Data: The name of the phase defined as the labelgroup name is added as a suffix to the output filename. | ||
+ | |||
+ | **Fixed** | ||
+ | * AoRGamage2002 throws NullPointerException if used without the ReferencePoint attribute set. | ||
+ | * Created session parameters of the type Matrix3x3 are saved now if only generic xml file format is available to save session parameters. | ||
+ | * Sequences of trial types works now the same way as if the trial types are used separately, e.g. triggering works, configuration is read from the single trial types, etc. | ||
+ | * Constant types Vector3d, Matrix3d, Vector4d, Matrix4d and Quat4d are saved now properly in the session parameter file if the parameters are created by calibration. The functions vec(), vec4(), mat(), mat4() and q() are used. | ||
+ | * Catch NumberFormatException if in the Visual4d-View an undfined color name is used. | ||
+ | * If differentiation configuration is used in inputlabelsets to read data from multiple motiondata files warnings are thrown because of trying to create differentiations multiple times. | ||
+ | |||
+ | **ToDo** | ||
+ | * The axis estimation method < | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.98 - 2020-07 == | ||
+ | ----------------- | ||
+ | |||
+ | |||
+ | **Added** | ||
+ | * Interpolation filter to fill NaN values based on a set of methods. | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.97 - 2020-06 == | ||
+ | ----------------- | ||
+ | |||
+ | **Added** | ||
+ | * The method " | ||
+ | * Upgrade to Apache Netbeans 12 Platform | ||
+ | * new filter " | ||
+ | |||
+ | **Fixed** | ||
+ | | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.96 - 2020-05 == | ||
+ | ----------------- | ||
+ | |||
+ | **Added** | ||
+ | * PolyDiff4 filter working with NaN values by application on NaN-free sections | ||
+ | * After processing data, a file is created only if a given labelset is not empty or not labelset is given. This behavoir is now implemented for all fileformats. | ||
+ | * New method **frame** for < | ||
+ | * New functionality with attributes " | ||
+ | * Documentation about CalcGroup input properties added. | ||
+ | * Show4dView: Array definition based on " | ||
+ | **Fixed** | ||
+ | * MotionData to trial converter imports double-timeseries as timeseries. | ||
+ | * butterorder2-filter with zero phase does not get NaN values in the first run | ||
+ | * Plot: NaN values are now shown as NaN, which means that the non NaN ranges are not connected | ||
+ | * Documentation of PlotSheet configuration: | ||
+ | * View4d: Not properly scaled arrows. The cone is now seperatly scaled with the inverse, so that scaling of cone plus cyclinder works fine. | ||
+ | * Export as csv with given labelset throws a null-pointer expception even if a labelGroup with the given labelGroup name exist but the filesuffix or mimetype is not configured. Fixed by checken of the mimetype and additionally of the filesuffix only if more than one labelgroup with the given name found. | ||
+ | * Export as csv with given labelset from selected datacollection inside a d3d-file results in saving with a file name of the d3d-file and the suffix == " | ||
+ | |||
+ | **Planed** | ||
+ | * If a dynamical calibration trial contains one or ore more incorrect points, it can happen that the functional calibration results in completly wrong joint center/axis determination. There is no way to exclude obviously wrong points. Maybe a session specific xml-file, which includes events and phases, can be read and manuelly set by the user. | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.95 - 2019-12 == | ||
+ | ----------------- | ||
+ | |||
+ | **Added** | ||
+ | * ROS (robot operation system) added as a " | ||
+ | * Vicon-ROS-Wrapper integration | ||
+ | * ROS-OpenPose integration | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.94 - 2019-04 == | ||
+ | ----------------- | ||
+ | |||
+ | **Added** | ||
+ | * New PlugIn mechanism to add plot diagram types. | ||
+ | * New diagram type " | ||
+ | |||
+ | == Nimue Platform 0.93 - 2019-01 == | ||
+ | |||
+ | **Fixed** | ||
+ | * The " | ||
+ | |||
+ | ----------------- | ||
+ | == Nimue Platform 0.92 - 2018-11 == | ||
+ | ----------------- | ||
+ | |||
+ | **Added** | ||
+ | * New Flag "allow gaps" in the " | ||
+ | * Warnings are shown, if " | ||
+ | |||
+ | **Changed** | ||
+ | * < | ||
+ | * The CSVDataGroupExport Action now throws an IllegalArgumentException instead of null-PointExceptions in the cases of not allowed null arguments. | ||
+ | * A big refactoring has separeted the mathematical expression parser to make it pluggable via Service provider interface. This creates the precondition to plug in a parser subistitute, | ||
**Removed** | **Removed** | ||
| | ||
**Fixed** | **Fixed** | ||
- | * < | + | * < |
+ | * < | ||
+ | * If your try to export a dataGroup of a given d3d-file which does not conain any data a null-Pointer-Exception is thrown. The exception is catched now and a meaningful errormessage is given. | ||
+ | * Open a plot compoment by selecting a node which does not contain any data holds the plot-components tab with seeking for data sign open without any message. Fixed: Plot component and tab is closed and instead a warning dialog is shown. | ||
+ | * Export data from a selected group has expected a dataCollection as a direct child. It fails with an ArrayIndexOutOfBoundException, | ||
- | == Upperlimb | + | ----------------- |
+ | == Nimue Platform | ||
+ | ----------------- | ||
**Added** | **Added** | ||
Zeile 53: | Zeile 249: | ||
| | ||
**Planed** | **Planed** | ||
- | * The json export and also processing save as json, do both not save derivatives but shoud. | + | * The json export and also processing save as json, do both not save derivatives but should. |
=====Applications based on this platform===== | =====Applications based on this platform===== | ||
Zeile 80: | Zeile 276: | ||
6. **LynxAnalyser: | 6. **LynxAnalyser: | ||
- | This application is a generic motion data modelling and analysing tool and currently used for the MobMonRob | + | This application is a generic motion data modelling and analysing tool and currently used for the projects [[https:// |
+ | |||
+ | 7. [[http:// | ||
+ | |||
+ | This application is a generic data aquisition tool and currently used for the projects [[https:// | ||
start.txt · Zuletzt geändert: 2022/07/19 17:13 von oliver