Untitled

#_fr - number of frame    prep_fr, jerk_fr, takeoff_fr, peak_fr, landing_fr, damping_fr, recup_fr = 0, 0, 0, 0, 0, 0, -1
    hip_prep, hip_jerk, hip_peak, hip_damping, hip_takeoff = hipy[0], hipy[0], hipy[0], hipy[0], hipy[0]    toe_takeoff, v_takeoff = toey[0], vhipy[0]
                    for i in range(10, len(vhipy)):
        if (angles['kne_angle'][i]<160) and (vhipy[i]<-0.1):            prep_fr = i
            hip_prep = hipy[i]            break
    for i in range(prep_fr, len(vhipy)):        if vhipy[i] > 0.1:
            jerk_fr = i            hip_jerk = hipy[i]
            break    for i in range(jerk_fr, len(vtoey)):
        if  (toey[i]>toey[prep_fr:i].mean()+3*toey[prep_fr:i].std()) and vtoey[i]>0.1:  #            takeoff_fr = i
            hip_takeoff = hipy[i]            toe_takeoff = toey[i]
            v_takeoff = vhipy[i]            break
    #TODO: more stable algorythm
    for i in range(takeoff_fr+1, len(ahipy)):        if (vhipy[i]*vhipy[i-1]<=0) and (ahipy[i]<0):
            peak_fr = i            hip_peak = hipy[i]
            break    
    for i in range(peak_fr+1, len(toey)):        if (toey[i]-toe_takeoff)*(toey[i-1]-toe_takeoff)<=0:
            landing_fr = i            break
    for i in range(landing_fr+1, len(ahipy)):        if (vhipy[i]*vhipy[i-1]<=0) and (ahipy[i]>0):
            damping_fr = i            hip_damping = hipy[i]
            break    for i in range(damping_fr+1, len(ahipy)):
        if ahipy[i]<0 and vhipy[i]>0 and vhipy[i]<0.05 or hipy[i]>hip_prep:            recup_fr = i
            break    for i in range(takeoff_fr, landing_fr):
        grf[i]=0     for i in range(len(grf)):
        if grf[i]<0:            grf[i]=0
        power = grf*vhipy*G
    for i in range(len(power)):        if power[i]<0:
            power[i]=0