Six Degree of Freedom

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Exporting 6 DOF Data

Exporting 6 degree of freedom data to an ASCII format as either an


ORIGIN and QUATERNION
OR
ORIGIN and 3x3 ROTATION MATRIX

Exported File Format

Visual3D loads 6 degree of freedom from ASCII data files with the following formats.

Rotation Matrix Based

filename filename filename filename filename filename filename filename filename filename filename filename filename
TIME ORIGIN ORIGIN ORIGIN ROTATION ROTATION ROTATION ROTATION ROTATION ROTATION ROTATION ROTATION ROTATION
FRAME_NUMBERS LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED
ORIGINAL BODY1 BODY1 BODY1 BODY1 BODY1 BODY1 BODY1 BODY1 BODY1 BODY1 BODY1 BODY1
ITEM 0 X Y Z 0 1 2 3 4 5 6 7 8
1 0.0 0.564162 0.002198 0.086599 0.648289 -0.680243 -0.342039 0.259806 -0.224631 0.939171 -0.715696 -0.697719 0.031104
2 0.032 0.569361 0.004844 0.081942 0.712005 -0.652892 -0.258418 0.255689 -0.101686 0.961396 -0.653967 -0.750593 0.094538


The Origin is at the Proximal End of the Segment


The Rotation matrix is represented as

| 0 1 2 |
[R]= | 3 4 5 |
| 6 7 8 |

Quaternion Based

filename filename filename filename filename filename filename filename
TIME ORIGIN ORIGIN ORIGIN QUATERNION QUATERNION QUATERNION QUATERNION
FRAME_NUMBERS LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED LINK_MODEL_BASED
ORIGINAL BODY1 BODY1 BODY1 BODY1 BODY1 BODY1 BODY1
ITEM 0 X Y Z 0 1 2 3
1 0.0 0.9782 0.5654 -1.0257 0.298 -0.6755 0.2496 -0.6264
2 0.032 0.9782 0.5654 -1.0257 0.298 -0.6755 0.2496 -0.6264


The file format is column based. Additional rigid bodies can be added as new columns with the same format.

Example 1

Exporting the position and orientation of segment RFT as an ORIGIN and Quaternion


Export_Data_To_Ascii_File
! /FILE_NAME=
/SIGNAL_TYPES=FRAME_NUMBERS+LINK_MODEL_BASED+LINK_MODEL_BASED
/SIGNAL_NAMES=TIME+ORIGIN+QUATERNION
/SIGNAL_FOLDER=ORIGINAL+RFT+RFT
! /START_LABEL=
! /END_LABEL=
! /USE_POINT_RATE=FALSE
! /NORMALIZE_DATA=FALSE
! /NORMALIZE_POINTS=101
! /EXPORT_MEAN_AND_STD_DEV=FALSE
! /USE_P2D_FORMAT=FALSE
;


Exporting the position and orientation of segment RFT as an ORIGIN and Rotation


Export_Data_To_Ascii_File
! /FILE_NAME=
/SIGNAL_TYPES=FRAME_NUMBERS+LINK_MODEL_BASED+LINK_MODEL_BASED
/SIGNAL_NAMES=TIME+ORIGIN+ROTATION
/SIGNAL_FOLDER=ORIGINAL+RFT+RFT
! /START_LABEL=
! /END_LABEL=
! /USE_POINT_RATE=FALSE
! /NORMALIZE_DATA=FALSE
! /NORMALIZE_POINTS=101
! /EXPORT_MEAN_AND_STD_DEV=FALSE
! /USE_P2D_FORMAT=FALSE
;

Example 2

Open the text file that was just created. Select File -> Open. Select the viewer for .txt files. Select "aurora.txt".

MergeAuroraFiles4.gif

The file will be loaded into memory. The Aurora file contains position and rotation data for a rigid body. It will appear in Visual3D as LINKMODEL_BASED items containing the

ORIGIN (3 components)
QUATERNION (4 components).

MergeAuroraFiles5.gif

Visual3D typically works with motion capture markers, so to maximize your ability to work with this data, you can create a set of 3 targets per rigid body using the following command.

Create_Targets_For_LinkModelBased_Rotations
/SIGNAL_FOLDERS=Port_01+Port_02+Port_03+Port_04
;

Targets for each rigid body should appear in the data tree.

It is possible to save this data to a C3D formatted file, but the LINK MODEL data (e.g. the ORIGINAL Translation and Quaternion will be lost, so it is recommended that you save this data to a cmo file.

MergeAuroraFiles7.gif

If you need a static trial for modeling the data, you can save the first frame of data to a c3d file.

MergeAuroraFiles8.gif

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