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run_fit_SS.m
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function [] = run_fit_SS()
%% run_fit:
%
root = 'E:\DATA\Magno_Data\Multibody\Processed';
[FILE,PATH] = uigetfile({'*.mat'}, 'Select data file', root, 'MultiSelect','off');
load(fullfile(PATH,FILE),'ALL');
%% Set initialization parameters
clearvars -except PATH FILE ALL
clc
vI = 1;
IOFv = ALL.HeadFree.FRF_data.IOFv;
frange = 0:0.02:20;
opt = tfestOptions('EnforceStability', true, 'InitializeMethod', 'all');
showplot = true;
%% HeadFree: err2body
close all
clc
clear Cn sys
clss = 'HeadFree';
trf = 'err2body';
Cn = {ALL.(clss).FRF_data.(trf).fly.gain , ALL.(clss).FRF_data.(trf).fly.phase};
data = frd(ALL.(clss).FRF_data.(trf).grand_mean.complex, IOFv, 'FrequencyUnit', 'hz');
tffit = [];
tffit{end+1} = tfest(data, 1, 0, 0.02, opt);
% delay = 0:0.001:0.05;
% [tffit{end+1}, sys_list, fitpercent, delay_sort] = tfest_delay(data, 1, 0, opt, delay);
[MODEL.(clss).fit.(trf), MODEL.(clss).data.(trf), h] = plotFit(Cn, IOFv, tffit, frange, showplot);
if showplot
suptitle(trf)
h.fig.Position(3:4) = [2.5 6];
set(h.data, 'MarkerSize', 5)
set(h.sys_freq, 'MarkerSize', 10)
set(h.ax, 'LineWidth', 0.5)
% set(h.ax, 'XGrid', 'off', 'YGrid', 'off')
% set(h.ax(1), 'YLim', [-7 1], 'XLim', [-2 6])
% set(h.ax(2), 'YLim', [0 5])
% set(h.ax(3), 'YLim', [-250 150])
end
%% HeadFree: err2head
close all
clc
clear Cn sys
clss = 'HeadFree';
trf = 'err2head';
Cn = {ALL.(clss).FRF_data.(trf).fly(vI).gain , ALL.(clss).FRF_data.(trf).fly(vI).phase};
data = frd(ALL.(clss).FRF_data.(trf).grand_mean(vI).complex, IOFv, 'FrequencyUnit', 'hz');
tffit = [];
% delay = 0:0.001:0.05;
% [tffit{end+1}, sys_list, fitpercent, delay_sort] = tfest_delay(data, 1, 1, opt, delay);
tffit{end+1} = tfest(data, 1, 1, 0.02, opt);
% tffit{end+1} = tfest(data, 1, 0, 0.02, opt);
tffit{1} = tf([tffit{1}.Numerator(1) 0], tffit{1}.Denominator, 'IODelay', 0.02);
% tffit{1}.Numerator = [tffit{1}.Numerator(1) 0];
% tffit{end+1} = tfest(data, 2, 1, 0.02, opt);
% tffit{end+1} = tfest(data, 2, 2, [], opt);
% [temp, h] = fitBode(Cn, IOFv, [1 1], [1 1], 0.02, 'lsqnonlin', false);
% tffit{end+1} = temp.tf.G;
[MODEL.(clss).fit.(trf), MODEL.(clss).data.(trf), h] = plotFit(Cn, IOFv, tffit, frange, showplot);
if showplot
suptitle(trf)
h.fig.Position(3:4) = [3 7];
set(h.data, 'MarkerSize', 5)
set(h.sys_freq, 'MarkerSize', 10)
set(h.ax, 'LineWidth', 0.5)
% set(h.ax, 'XGrid', 'off', 'YGrid', 'off')
set(h.ax(1), 'YLim', [-1 1], 'XLim', [-1 1])
%set(h.ax(2), 'YLim', [0 1])
set(h.ax(3), 'YLim', [-250 150])
end
%% HeadFree: ref2body
close all
clc
clear Cn sys
clss = 'HeadFree';
trf = 'ref2body';
Cn = {ALL.(clss).FRF_data.(trf).fly(vI).gain , ALL.(clss).FRF_data.(trf).fly(vI).phase};
data = frd(ALL.(clss).FRF_data.(trf).grand_mean(vI).complex, IOFv, 'FrequencyUnit', 'hz');
tffit = [];
tffit{end+1} = tfest(data, 1, 0, 0.02, opt);
% tffit{end+1} = tfest(data, 1, 0, 0.02, opt);
[MODEL.(clss).fit.(trf), MODEL.(clss).data.(trf), h] = plotFit(Cn, IOFv, tffit, frange, showplot);
if showplot
set(h.ax(1), 'YLim', [-1 1], 'XLim', [-1 1])
set(h.ax(2), 'YLim', [0 1])
set(h.ax(3), 'YLim', [-250 150])
end
%% HeadFree: ref2head
close all
clc
clear Cn sys
clss = 'HeadFree';
trf = 'ref2head';
Cn = {ALL.(clss).FRF_data.(trf).fly(vI).gain , ALL.(clss).FRF_data.(trf).fly(vI).phase};
data = frd(ALL.(clss).FRF_data.(trf).grand_mean(vI).complex, IOFv, 'FrequencyUnit', 'hz');
tffit = [];
tffit{end+1} = tfest(data, 1, 1, 0.02, opt);
tffit{1}.Numerator = [tffit{1}.Numerator(1) 0];
% tffit{end+1} = tfest(data, 1, 2, [], opt);
% tffit{end+1} = tfest(data, 2, 1, [], opt);
[MODEL.(clss).fit.(trf), MODEL.(clss).data.(trf), h] = plotFit(Cn, IOFv, tffit, frange, showplot);
if showplot
set(h.ax(1), 'YLim', [-1 1], 'XLim', [-1 1])
set(h.ax(2), 'YLim', [0 1])
set(h.ax(3), 'YLim', [-250 150])
end
%% HeadFree: ref2gaze
close all
clc
clear Cn sys
clss = 'HeadFree';
trf = 'ref2gaze';
Cn = {ALL.(clss).FRF_data.(trf).fly(vI).gain , ALL.(clss).FRF_data.(trf).fly(vI).phase};
data = frd(ALL.(clss).FRF_data.(trf).grand_mean(vI).complex, IOFv, 'FrequencyUnit', 'hz');
tffit = [];
tffit{end+1} = tfest(data, 2, 2, 0.02, opt);
% tffit{end+1} = tfest(sys, 1, 2, NaN, opt);
[MODEL.(clss).fit.(trf), MODEL.(clss).data.(trf), h] = plotFit(Cn, IOFv, tffit, frange, showplot);
if showplot
set(h.ax(1), 'YLim', [-1 1], 'XLim', [-1 1])
set(h.ax(2), 'YLim', [0 1])
set(h.ax(3), 'YLim', [-250 150])
end
%% BodyFixed: err2head
close all
clc
clear Cn sys
clss = 'BodyFixed';
trf = 'err2head';
Cn = {ALL.(clss).FRF_data.(trf).fly(vI).gain , ALL.(clss).FRF_data.(trf).fly(vI).phase};
data = frd(ALL.(clss).FRF_data.(trf).grand_mean(vI).complex, IOFv, 'FrequencyUnit', 'hz');
tffit = [];
% delay = 0:0.001:0.05;
% [best_fit, sys_list, fitpercent, delay_sort] = tfest_delay(data, 1, 1, opt, delay);
% tffit{end+1} = tfest(data, 2, 2, 0, opt);
tffit{end+1} = tfest(data, 2, 1, 0.02, opt);
% tffit{1}.Numerator = [tffit{1}.Numerator(1) 0];
% tffit{end+1} = tfest(sys, 1, 1, NaN, opt);
[MODEL.(clss).fit.(trf), MODEL.(clss).data.(trf), h] = plotFit(Cn, IOFv, tffit, frange, showplot);
if showplot
% set(h.ax(1), 'YLim', [-1 1], 'XLim', [-1 1])
set(h.ax(2), 'YLim', [0 1])
set(h.ax(3), 'YLim', [-250 150])
end
%% BodyFixed: ref2head
close all
clc
clear Cn sys
clss = 'BodyFixed';
trf = 'ref2head';
Cn = {ALL.(clss).FRF_data.(trf).fly(vI).gain , ALL.(clss).FRF_data.(trf).fly(vI).phase};
data = frd(ALL.(clss).FRF_data.(trf).grand_mean(vI).complex, IOFv, 'FrequencyUnit', 'hz');
tffit = [];
tffit{end+1} = tfest(data, 1, 1, 0.029, opt);
[MODEL.(clss).fit.(trf), MODEL.(clss).data.(trf), h] = plotFit(Cn, IOFv, tffit, frange, showplot);
if showplot
% set(h.ax(1), 'YLim', [-1 1], 'XLim', [-1 1])
set(h.ax(2), 'YLim', [0 1])
set(h.ax(3), 'YLim', [-250 150])
end
%% Create closed-loop transforms from open-loop fits
clss = 'HeadFree';
MODEL.morph.body.M = 0.84185066; % [mg] body mass
MODEL.morph.head.M = 0.08957730; % [mg] head mass
MODEL.morph.body.R = 2.22; % [mm] body radius
MODEL.morph.head.R = 0.42; % [mm] head radius
% MODEL.morph.body.Jzz = 0.01834078; % [mg*mm^2] body inertia
% MODEL.morph.head.Jzz = 0.00431881; % [mg*mm^2] head inertia
MODEL.morph.body.Jzz = 0.56650720; % [mg*mm^2] body inertia
MODEL.morph.head.Jzz = 0.00619410; % [mg*mm^2] head inertia
MODEL.morph.J_ratio = MODEL.morph.head.Jzz / MODEL.morph.body.Jzz; % head/body inertia ratio
MODEL.(clss).G.body = MODEL.(clss).fit.err2body(1).models;
% MODEL.(clss).G.body_bad = MODEL.(clss).fit.err2body(2).models;
MODEL.(clss).G.head = MODEL.(clss).fit.err2head(1).models;
% MODEL.(clss).G.head_bad = MODEL.(clss).fit.err2head(2).models;
MODEL.(clss).G.gaze = MODEL.(clss).G.body + MODEL.(clss).G.head;
[MODEL.(clss).C.body, MODEL.(clss).P.body] = get_controller(MODEL.(clss).G.body, nan);
[MODEL.(clss).C.head, MODEL.(clss).P.head] = get_controller(MODEL.(clss).G.head, nan);
% MODEL.(clss).P.body = tf(1, MODEL.(clss).G.body.denominator);
% MODEL.(clss).P.head = tf(1, MODEL.(clss).G.head.denominator);
MODEL.(clss).P_norm.body = tf(MODEL.(clss).G.body.denominator(end), MODEL.(clss).G.body.denominator);
MODEL.(clss).P_norm.head = tf(MODEL.(clss).G.head.denominator(end), MODEL.(clss).G.head.denominator);
% MODEL.(clss).C.body = tf(MODEL.(clss).G.body.numerator, 1);
% MODEL.(clss).C.head = tf(MODEL.(clss).G.head.numerator, 1);
% MODEL.(clss).C_norm.body = tf(MODEL.(clss).G.body.numerator / MODEL.(clss).G.body.denominator(end), 1);
% MODEL.(clss).C_norm.head = tf(MODEL.(clss).G.head.numerator / MODEL.(clss).G.head.denominator(end), 1);
MODEL.(clss).H.body = minreal( MODEL.(clss).G.body / (1 + MODEL.(clss).G.body + MODEL.(clss).G.head) );
MODEL.(clss).H.head = minreal( MODEL.(clss).G.head / (1 + MODEL.(clss).G.body + MODEL.(clss).G.head) );
MODEL.(clss).H.gaze = minreal( (MODEL.(clss).G.body + MODEL.(clss).G.head) / (1 + MODEL.(clss).G.body + MODEL.(clss).G.head) );
MODEL.(clss).H.body_no_head = minreal( MODEL.(clss).G.body / (1 + MODEL.(clss).G.body));
MODEL.(clss).H.head_no_body = minreal( MODEL.(clss).G.head / (1 + MODEL.(clss).G.head));
MODEL.(clss).W.body = minreal( MODEL.(clss).C.body / (1 + MODEL.(clss).G.body + MODEL.(clss).G.head) );
MODEL.(clss).W.head = ( MODEL.(clss).C.head / (1 + MODEL.(clss).G.body + MODEL.(clss).G.head) );
clss = 'BodyFixed';
MODEL.(clss).G.head = MODEL.(clss).fit.err2head(1).models;
MODEL.(clss).H.head = minreal( MODEL.(clss).G.head / (1 + MODEL.(clss).G.head));
% [MODEL.(clss).C.head, MODEL.(clss).P.head] = get_controller(MODEL.(clss).G.head, MODEL.morph.head.Jzz);
% MODEL.(clss).P.head = tf(1, MODEL.(clss).G.head.denominator);
MODEL.(clss).P_norm.head = tf(MODEL.(clss).G.head.denominator(end), MODEL.(clss).G.head.denominator);
% MODEL.(clss).C.head = tf(MODEL.(clss).G.head.numerator, 1);
%% HeadFree: ref2head compare
close all
clc
trf = 'ref2head';
% models = {MODEL.HeadFree.fit.(trf)(1).models, MODEL.HeadFree.H.head};
% models = {MODEL.HeadFree.H.head, MODEL.HeadFree.H.head_no_body};
models = {MODEL.HeadFree.H.head, MODEL.HeadFree.H.head_no_body, MODEL.BodyFixed.H.head};
[sys,~,h] = plotFit(MODEL.BodyFixed.data.(trf).input, IOFv, models, frange, showplot);
fitpercent = [sys.fitpercent];
disp('Fit percent:')
disp([fitpercent.combined])
if showplot
suptitle(trf)
h.fig.Position(3:4) = [2 5];
set(h.data, 'MarkerSize', 5, 'Marker', 'none')
set(h.sys_freq, 'MarkerSize', 7)
set(h.ax, 'LineWidth', 0.5)
% set(h.ax, 'XGrid', 'off', 'YGrid', 'off')
set(h.ax(1), 'YLim', [-1 1], 'XLim', [-1 1])
set(h.ax(2), 'YLim', [0 1])
set(h.ax(3), 'YLim', [-250 150])
end
%% HeadFree: ref2gaze compare
trf = 'ref2gaze';
% models = {MODEL.HeadFree.fit.(trf)(1).models, MODEL.(clss).H.gaze};
models = {MODEL.HeadFree.H.gaze};
[~,~,h] = plotFit(MODEL.HeadFree.data.(trf).input, IOFv, models, frange, showplot);
if showplot
suptitle(trf)
h.fig.Position(3:4) = [2.5 4.5];
set(h.data, 'MarkerSize', 5)
set(h.sys_freq, 'MarkerSize', 7)
set(h.ax, 'LineWidth', 0.5)
% set(h.ax, 'XGrid', 'off', 'YGrid', 'off')
set(h.ax(1), 'YLim', [-1 1], 'XLim', [-1 1])
set(h.ax(2), 'YLim', [0 1])
set(h.ax(3), 'YLim', [-250 150])
end
%%
% set(h.fig, 'CurrentAxes', h.ax(1))
% plot(R, I, 'c')
%
% set(h.fig, 'CurrentAxes', h.ax(2))
% plot(fout, gain, 'c')
%
% set(h.fig, 'CurrentAxes', h.ax(3))
% plot(fout, phase, 'c')
%% Save TF fit data
fname = ['MODEL_' FILE];
root = 'E:\DATA\Magno_Data\Multibody';
savedir = fullfile(root,'processed');
mkdir(savedir)
save(fullfile(savedir, [fname '.mat']), 'MODEL','ALL');
end