144 lines
3.4 KiB
JavaScript
Executable File
144 lines
3.4 KiB
JavaScript
Executable File
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const Robot = require('../robot/Robot.js');
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test('Initialisiere den Robot', () => {
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robot = new Robot(300,290,10)
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expect(robot.x).toBe(0);
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});
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test('3D Handgelenk Punkt prüfen 1', () => {
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robot = new Robot(300,290,10)
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robot.x = 0 ;
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robot.y = 600;
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robot.z = 0;
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robot.phi = -Math.PI/2;
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robot.theta = Math.PI/2;
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robot.calculateAngles3D();
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// console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
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expect(Math.abs(robot.pX)).toBeLessThanOrEqual(0.0001)
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expect(Math.abs(robot.pY)).toBe(590)
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expect(Math.abs(robot.pZ)).toBeLessThanOrEqual(0.0001)
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});
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test('3D Handgelenk Punkt prüfen 2', () => {
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robot = new Robot(300,290,10)
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robot.x = 0 ;
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robot.y = 400;
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robot.z = 0;
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robot.phi = -Math.PI/2;
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robot.theta = Math.PI/2;
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robot.calculateAngles3D();
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// console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
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expect(Math.abs(robot.pX)).toBeLessThanOrEqual(0.0001)
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expect(Math.abs(robot.pY)).toBe(390)
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expect(Math.abs(robot.pZ)).toBeLessThanOrEqual(0.0001)
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});
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test('3D Handgelenk Punkt prüfen 3', () => {
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robot = new Robot(300,290,10)
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robot.x = 0 ;
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robot.y = 400;
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robot.z = 0;
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robot.phi = -Math.PI/2;
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robot.theta = 0;
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robot.calculateAngles3D();
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// console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
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expect(Math.abs(robot.pX)).toBeLessThanOrEqual(0.0001)
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expect(Math.abs(robot.pY)).toBe(400)
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expect(Math.abs(robot.pZ)).toBe(10)
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});
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test('3D Handgelenk Punkt prüfen 4', () => {
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robot = new Robot(300,290,10)
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robot.x = 0 ;
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robot.y = 400;
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robot.z = 0;
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robot.phi = 0;
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robot.theta = Math.PI/2;
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robot.calculateAngles3D();
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// console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
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expect(robot.pX).toBe(10)
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expect(robot.pY).toBe(400)
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expect(Math.abs(robot.pZ)).toBeLessThanOrEqual(0.0001)
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});
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/**
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// Griff mit ausgetrecktem Arm
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test('3D Angles AlphaBeta', () => {
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robot = new Robot(300,290,10)
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robot.x = 0 ;
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robot.y = 600;
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robot.z = 0;
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robot.phi = -Math.PI / 2;
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robot.theta = 0;
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robot.calculateAngles3D();
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expect(robot.alpha).toBe(0);
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expect(robot.beta).toBe(0);
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expect(robot.a).toBe(0);
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expect(robot.b).toBe(0);
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expect(robot.c).toBe(0);
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});
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// Griff mit minimal gewinkeltem Arm
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test('3D Angles AlphaBeta with slight angle', () => {
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robot = new Robot(300,290,10)
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robot.x = 0 ;
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robot.y = 550;
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robot.z = 0;
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robot.phi = -Math.PI / 2;
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robot.theta = 0;
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robot.calculateAngles3D();
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expect(robot.alpha).not.toBe(0);
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expect(robot.beta).not.toBe(0);
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expect(Math.abs(robot.a % (Math.PI/2))).toBe(0);
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expect(robot.b).not.toBe(0);
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console.log(robot.b);
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expect(Math.abs(robot.c % (Math.PI/2))).toBe(0);
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});
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*/
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/*
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// Griff mit gewinkeltem Arm
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test('3D Angles AlphaBeta', () => {
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robot = new Robot(300,290,10)
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robot.x = 0 ;
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robot.y = 300;
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robot.z = 0;
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robot.phi = -Math.PI / 2;
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robot.theta = Math.PI/3;
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robot.calculateAngles3D();
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console.log("alpha = " + robot.alpha.toString());
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console.log("beta = " + robot.beta.toString());
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console.log("a = " + robot.a.toString());
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console.log("b = " + robot.b.toString());
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console.log("c = " + robot.c.toString());
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expect(robot.alpha).toBe(Math.PI/3);
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expect(robot.beta).toBe(-Math.PI/3);
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});
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*/ |