Read ASF Skeleton Definition File (.asf)

Parses an Acclaim Skeleton File (ASF) that defines the skeleton hierarchy, bone properties, and degrees of freedom. ASF files contain sections for units, root configuration, bone data, and hierarchy relationships.

Usage

readASF(path)

Arguments

path

Character string giving the path to the .asf file.

Value

An S3 object of class "ASFSkeleton" with components:

units

Named list of unit definitions (mass, length, angle).

root

List with root joint configuration: position, orientation, order, and axis.

bones

Named list of bone definitions, each with id, name, direction, length, axis, dof, and limits.

hierarchy

Named list mapping parent joint names to character vectors of child joint names.

References

CMU Graphics Lab (2003). "CMU Motion Capture Database." http://mocap.cs.cmu.edu/.

See also

readAMC() for reading motion data in AMC format, print.ASFSkeleton() for displaying skeleton structure.

Examples

asf_file <- system.file("testdata", "sample.asf", package = "PhysioMoCap")
if (nzchar(asf_file)) {
  skel <- readASF(asf_file)
  skel
}
#> ASF Skeleton
#>   Units: mass = 1, length = 0.45, angle = deg 
#>   Root: position = 0, 0, 0 | order = TX TY TZ RX RY RZ 
#>   Bones: 2 
#>     Names: lfemur, ltibia 
#>   Hierarchy:
#>      root -> lfemur 
#>      lfemur -> ltibia