#!/usr/bin/env python
# coding: utf-8

# # Introduction

# This checks to see if the angular rates computed from Ton's inverse dynamics are the same as those computed with a simple numerical differentiation of the angles.

# # Imports

# In[1]:


import sys
sys.path.append('../src')


# In[2]:


import numpy as np
from gaitanalysis.controlid import SimpleControlSolver


# In[3]:


import utils
from gait_landmark_settings import settings


# In[4]:


get_ipython().run_line_magic('matplotlib', 'inline')


# In[5]:


from IPython.core.pylabtools import figsize
figsize(10, 8)


# # Load and Process Data for 1 Trial

# In[6]:


trials_dir = utils.config_paths()['raw_data_dir']


# In[7]:


trial_number = '068'


# In[8]:


trial = utils.Trial(trial_number)


# In[9]:


trial.prep_data('Longitudinal Perturbation')


# In[10]:


sensors, controls = trial.sensors, trial.controls
angles = [s for s in sensors if '.Angle' in s]
rates = [s for s in sensors if '.Rate' in s]
numerical_rates = [s + '.Numerical' for s in rates]


# In[11]:


walking_data = trial.gait_data_objs['Longitudinal Perturbation']


# In[12]:


walking_data.time_derivative(angles, numerical_rates)


# In[13]:


for one, two in zip(rates, numerical_rates):
    axes = walking_data.data[[one, two]].iloc[:500].plot()


# # Footer

# In[14]:


get_ipython().system('git rev-parse HEAD')


# In[15]:


get_ipython().system('git --git-dir=/home/moorepants/src/GaitAnalysisToolKit/.git --work-tree=/home/moorepants/src/GaitAnalysisToolKit rev-parse HEAD')


# In[16]:


get_ipython().run_line_magic('install_ext', 'http://raw.github.com/jrjohansson/version_information/master/version_information.py')


# In[17]:


get_ipython().run_line_magic('load_ext', 'version_information')


# In[18]:


get_ipython().run_line_magic('version_information', 'numpy, scipy, pandas, matplotlib, tables, oct2py, dtk, gaitanalysis')


# In[19]:


get_ipython().system('conda list')


# In[20]:


get_ipython().system('pip freeze')