Installation

Code

  1. Clone this repository:

    git clone https://github.com/gait-tech/gaittoolbox.git

  2. Run the following command to initialize submodules:

    git submodule update --init --recursive

Libraries

Enable C3D Export

  1. Download the btk toolbox for MATLAB here (e.g., btk-0.3.0_Win7_MatlabR2009b_64bit.zip).

  2. Export to a directory and add the said directory to the MATLAB path. See tutorial here.

After running the code and exporting the C3D, you can visualize the c3d file via the following steps.

  1. Download Mokka and install.

  2. Download and load the corresponding .mvc file from gtb Mokka (see steps in image below). Without loading this config, you will only see the dots but without the colored lines and planes.

    Load config to Mokka.

  3. See sample output below.

    Sample c3d output

Minimal Example

  • See sample code.

  • Specially recommend checking runSample02.m which contains a simple step by step explanation of how to get body imu measurements with respect the world frame, and then feed it into the CKF filter.

  1. For a quick run, go to the root of the gaittoolbox code and run the following command from console. This command will run the sample code.

examples.runSample01

  1. To run the experiments in +paper, you will run the following command from console

papers.<foldername>.runAllNeuRASparse01
papers.ckf2019.runAllNeuRASparse01