Lasenby Using GA in Optical Motion Capture [sharethefiles com]






























































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100
90
80
70
60
50
40
100
30
50
20
0
10
-50
0
80
60
40
20 -100
0 -20 -40 -60 -80


















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70
80
60
60
50
40
20
10
40
0 0
-10
20
-20 -20
0
-15
-20 -10 -5 0 5
70
60 70
50 60
50
40
20
20
0
0 40
-20
-10
0
-20 -10
-20 10 -20
20 0
10
20
70
5
0
60
-5
50
-10
40
-15
20 10 0 -10 -20 20 10 0 -10 -20


100 100
50 50
0 0
20 20
10 10
0 0 0 0
-10 -10
-20 -20
-20 -20
80 80
60
60
40
20 40
20 20
0 0
-20 -20
0 -10 -20
0 -10 -20
10 10
20 20
10 10
0 0
-10 -10
-20 -20
20 10 0 -10 -20
20 10 0 -10 -20




100 100
50 50
0 0
20 20
10 10
0 0 0 0
-10 -10
-20 -20
-20 -20
80 80
60 60
40 40
20 20
20 20
0 0
-20 -20
0 -10 -20
0 -10 -20
10 10
20 20
10 10
0 0
-10 -10
-20 -20
20 10 0 -10 -20
20 10 0 -10 -20




80 100
60 50
40 0
20 20
10 10
0 0 0 0
-10 -10
-20 -20
-20 -20
70 80
60 60
50 40
40 20
20 20
0 0
-20 -20
0 -10 -20
0 -10 -20
10 10
20 20
10 10
0 0
-10 -10
-20 -20
20 10 0 -10 -20
20 10 0 -10 -20




n1*theta n2*theta n3*theta
0.8 -0.4 0.2
0.7 -0.6 0
0.6 -0.8 -0.2
0 0.005 0.01 0 0.005 0.01 0 0.005 0.01
1.4 -0.8 0.1
1.2 -1 0
1 -1.2 -0.1
0 0.005 0.01 0 0.005 0.01 0 0.005 0.01
-1 2 0.1
-1.2 1.5 0
-1.4 1 -0.1
0 0.005 0.01 0 0.005 0.01 0 0.005 0.01
5 0.04 0.05
0.02
0 0
0
-5 -0.02 -0.05
0 0.005 0.01 0 0.005 0.01 0 0.005 0.01








t(1) component t(2) component t(3) component
20 20 2
10 10
1
0 0
-10 -10 0
0 0.005 0.01 0 0.005 0.01 0 0.005 0.01
40 40 30
20 20 20
0 0 10
-20 -20 0
0 0.005 0.01 0 0.005 0.01 0 0.005 0.01
20 0 40
0 -10
20
-20 -20
-40 -30 0
0 0.005 0.01 0 0.005 0.01 0 0.005 0.01
1 1 40
0.5 0.5
20
0 0
-0.5 -0.5 0
0 0.005 0.01 0 0.005 0.01 0 0.005 0.01










8.2
8.15
8.1
8.05
8
7.95
7.9
7.85
7.8
7.75
0
-0.2
-0.4
-0.6
-0.2
-0.4
-0.6
-0.8
-1
-0.8 -1.2
-1.4
-1.6


























12
10
10
8
9
8
6
7
6
5 4
4
3
3
2
3
2
1
2
0
2
5
0
1
5
1
0 -6
-6 -4
0 -4
-2
-2
0
0
-5
2 2
-5 4
y y
x x
12 12
10 10
8 8
6 6
4 4
3 3
2 2
2 2
0 0
5 5
1 1
0 -6 0 -6
-4 -4
-2 -2
0 0
-5 -5
2 2
y y
x x



















z
z
z
z






















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