From 5ff560fd0328b28dd6d5771a0e301b018f95d799 Mon Sep 17 00:00:00 2001 From: chk <79915315+ChKendel@users.noreply.github.com> Date: Wed, 10 Jun 2026 08:26:34 +0200 Subject: [PATCH] =?UTF-8?q?aufr=C3=A4umen?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../pic/code_robot_definition.pdf | Bin .../pic/code_robot_definition.svg | 0 .../pic/image.png | Bin .../pic/robot_frontView_forearm.pdf | Bin .../pic/robot_frontView_forearm.svg | 0 .../pic/robot_frontView_forearm_0.pdf | Bin .../pic/robot_frontView_forearm_1.pdf | Bin .../pic/robot_hand_sideView.pdf | Bin .../pic/robot_hand_sideView.svg | 0 .../pic/robot_hand_sideView_0.pdf | Bin .../pic/robot_hand_topView.pdf | Bin .../pic/robot_hand_topView.svg | 0 .../pic/robot_hand_topView_0.pdf | Bin .../pic/robot_image_a.png | Bin .../pic/robot_image_b.png | Bin .../pic/robot_image_c.png | Bin .../pic/robot_image_d.png | Bin .../pic/robot_image_e.png | Bin .../pic/robot_sideView_forearm.pdf | Bin 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- - - - +
diff --git a/test/calculateAngles4.synthesized.a.test.js b/test/calculateAngles4.synthesized.a.test.js deleted file mode 100644 index 577219d..0000000 --- a/test/calculateAngles4.synthesized.a.test.js +++ /dev/null @@ -1,55 +0,0 @@ -const { calculate } = require('../public/calculateAngles'); - - - -function foundMarkers(y, robot, a=0, translate=[0,0,0]){ - - const alphaPi = y * Math.PI / 180; - - const pos20 = [0,Math.sin(alphaPi)*10,Math.cos(alphaPi)*10] - - m = {"markers": [ - {"id": 20, "position_mm": pos20 } - ]} - - return m -} - -robot = { - "Elements":["Base", "Arm1"], - "ElementLength":{"Arm1":250, "Joint1": 89.5, "Arm2":250, "Finger1":100, "Finger2":100}, - "Joints":{ - "jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5,0,0], "originSource":[null, "test", "test"]}, - "jointC":{"name":"Ellbow","type":"revolute","axis":[1,0,0],"parent":"Arm1","child":"Joint1", "origin":[-89.5, -250, 0]}, - "jointD":{"name":"EllbowTwist","type":"revolute","axis":[0,1,0],"parent":"Joint1","child":"Arm2", "origin":[0, -250, 0]} - }, - "Marker":[ - {"id":20, "on":"Arm1", "relPos":[0,0,10]}, - {"id":40, "on":"Arm2", "relPos":[0,200,35]}, - {"id":41, "on":"Arm2", "relPos":[0,160,35]} - ], - "recognized":{"x":null, "y":null, "z":null} -} - - - -function normalizeAngleDeg(angle) { - return ((angle % 360) + 360) % 360; -} - - -describe('calculateAngles minimal test', () => { - it('should run calculate() artificially created robot & testData', async () => { - - - var result = calculate(foundMarkers(45, robot), robot); - - expect(result).toBeDefined(); - expect(robot.recognized.y).toBeDefined(); - expect(robot.recognized.y).toBeCloseTo(45,2); - - }) - - - -}); \ No newline at end of file diff --git a/test/script.app.test.js b/test/script.app.test.js deleted file mode 100755 index 4a9d9c1..0000000 --- a/test/script.app.test.js +++ /dev/null @@ -1,11 +0,0 @@ - - -const Robot = require('../public/calculateActions.js'); - - - -test('Initialisiere den Robot', () => { - - expect(1).toBeCloseTo(1,0.002); - -}); \ No newline at end of file