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ChK
2026-03-29 21:20:37 +02:00
parent a361d96802
commit ff96dfd8f1
8 changed files with 212 additions and 14 deletions
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9
test/Robot.Kinematics.RoundTrip.test.js
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@@ -40,6 +40,9 @@ describe("Robot Kinematics Roundtrip", () => {
B.xMotor = motor.xMotor;
B.alpha = motor.alpha;
B.beta = motor.beta;
B.a = motor.a;
B.b = motor.b;
B.c = motor.c;
// Diese Funktion rekonstruiert nur x, y, z!
B.calculatePositionFromMotorAngles();
@@ -49,9 +52,9 @@ describe("Robot Kinematics Roundtrip", () => {
expect(B.pY).toBeCloseTo(A.pY, EPS);
expect(B.pZ).toBeCloseTo(A.pZ, EPS);
//expect(B.x).toBeCloseTo(A.x, EPS);
//expect(B.y).toBeCloseTo(A.y, EPS);
//expect(B.z).toBeCloseTo(A.z, EPS);
expect(B.x).toBeCloseTo(A.x, EPS);
expect(B.y).toBeCloseTo(A.y, EPS);
expect(B.z).toBeCloseTo(A.z, EPS);
});
test("calculateAngles3D() <-> calculatePositionFromMotorAngles() handgelenk 2", () => {