Y-Axis checks
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chk
195
test/yAxisComputeJs.test.js
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195
test/yAxisComputeJs.test.js
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/**
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* yAxisComputeJs.test.js
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* =======================
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* Unit-Test für public/yAxisCompute.js (reine JS-Berechnungslogik).
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*
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* Dieselben drei Timestamps wie der Python-Test:
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* test/y-axis-finder-examples/20260612_190019 (Pos A)
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* test/y-axis-finder-examples/20260612_190104 (Pos B)
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* test/y-axis-finder-examples/20260612_190241 (Pos C)
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*
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* Erwartete Werte (aus verifiziertem Python-Lauf und boardViewer-Logik):
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* Marker 197, 218, 219 → rotieren (3 Marker genutzt)
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* Marker 201, 204, 242 → gefiltert (Bewegung < 10 mm)
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* axisDir ≈ [0.9995, 0.029, -0.015] (fast reine X-Achse des Roboters)
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*
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* Hinweis: Im Gegensatz zum Python-Skript verwendet computeYAxis() nur die
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* Marker-Zentren (position_mm), nicht alle vier Ecken. Deshalb:
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* numMarkers = 3 (nicht 5 wie Python)
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* Residuen etwas größer (Python hat 4× mehr Punkte je Marker)
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*/
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const fs = require('fs');
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const path = require('path');
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const { computeYAxis, DEFAULT_MIN_MOVEMENT_MM } = require('../public/yAxisCompute');
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// ── Hilfsfunktionen ───────────────────────────────────────────────────────────
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const EXAMPLES = path.join(__dirname, 'y-axis-finder-examples');
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/** Lädt aruco_marker_poses.json und gibt die fremd-Marker zurück (link !== 'Board'). */
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function loadFremdMarkers(timestamp) {
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const file = path.join(EXAMPLES, timestamp, 'aruco_marker_poses.json');
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const data = JSON.parse(fs.readFileSync(file, 'utf8'));
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return (data.markers ?? []).filter(m => m.link !== 'Board');
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}
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const fremdA = loadFremdMarkers('20260612_190019');
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const fremdB = loadFremdMarkers('20260612_190104');
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const fremdC = loadFremdMarkers('20260612_190241');
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// ── Haupt-Suite ───────────────────────────────────────────────────────────────
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describe('computeYAxis – Arm1-Testdaten (190019 / 190104 / 190241)', () => {
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let r;
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beforeAll(() => {
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r = computeYAxis(fremdA, fremdB, fremdC);
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});
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// Grundstatus
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test('Berechnung erfolgreich (ok: true)', () => {
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expect(r.ok).toBe(true);
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});
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// Marker-Anzahlen
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test('numMarkersCommon erfasst alle gemeinsamen fremd-Marker', () => {
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// Alle drei Timestamps haben dieselben 6 fremd-Marker in common:
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// 197, 201, 204, 218, 219, 242
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expect(r.numMarkersCommon).toBeGreaterThanOrEqual(4);
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});
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test('3 Marker tatsächlich genutzt (197, 218, 219)', () => {
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expect(r.numMarkers).toBe(3);
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const usedIds = r.markerData.map(m => m.markerId).sort((a, b) => a - b);
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expect(usedIds).toEqual([197, 218, 219]);
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});
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// Filterung
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test('kaum-bewegende Marker werden gefiltert (201, 204 mindestens)', () => {
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const skippedIds = r.skipped.map(s => s.id).sort((a, b) => a - b);
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expect(skippedIds).toContain(201);
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expect(skippedIds).toContain(204);
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});
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test('gefilterte Marker haben Bewegung < DEFAULT_MIN_MOVEMENT_MM', () => {
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r.skipped.forEach(s => {
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expect(s.maxMoveMm).toBeLessThan(DEFAULT_MIN_MOVEMENT_MM);
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expect(s.reason).toMatch(/Bewegung zu gering/);
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});
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});
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test('gefilterte Marker enthalten posA (für späteres Base-Zuordnen)', () => {
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r.skipped.forEach(s => {
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expect(Array.isArray(s.posA)).toBe(true);
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expect(s.posA).toHaveLength(3);
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});
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});
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// Achsenrichtung
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test('axisDir ist Einheitsvektor (|axisDir| ≈ 1)', () => {
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const [ax, ay, az] = r.axisDir;
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const len = Math.sqrt(ax * ax + ay * ay + az * az);
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expect(len).toBeCloseTo(1.0, 4);
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});
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test('Achse liegt fast auf X-Achse des Roboters (axisDir[0] > 0.99)', () => {
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// Arm1 schwingt auf/ab → Drehachse = X-Richtung
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expect(r.axisDir[0]).toBeGreaterThan(0.99);
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});
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test('axisDir hat 3 Komponenten', () => {
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expect(r.axisDir).toHaveLength(3);
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});
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test('axisPoint hat 3 Komponenten', () => {
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expect(r.axisPoint).toHaveLength(3);
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});
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// Kippwinkel
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test('tiltXY und tiltYZ sind finite Zahlen', () => {
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expect(Number.isFinite(r.tiltXY)).toBe(true);
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expect(Number.isFinite(r.tiltYZ)).toBe(true);
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});
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// markerData-Struktur
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test('jeder markerData-Eintrag hat posA/posB/posC/circumcenter/normal', () => {
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r.markerData.forEach(md => {
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expect(md.posA).toHaveLength(3);
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expect(md.posB).toHaveLength(3);
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expect(md.posC).toHaveLength(3);
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expect(md.circumcenter).toHaveLength(3);
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expect(md.normal).toHaveLength(3);
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});
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});
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});
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// ── Parametertest: minMovementMm ──────────────────────────────────────────────
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describe('computeYAxis – minMovementMm-Parameter', () => {
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test('minMovementMm = 0 → alle gemeinsamen Marker werden genutzt, keine Skips', () => {
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const r = computeYAxis(fremdA, fremdB, fremdC, { minMovementMm: 0 });
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expect(r.ok).toBe(true);
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// Kein Marker sollte wegen Bewegung gefiltert sein
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const movementSkips = r.skipped.filter(s => s.reason.includes('Bewegung zu gering'));
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expect(movementSkips).toHaveLength(0);
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// Mehr Marker als im Standardfall
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expect(r.numMarkers).toBeGreaterThanOrEqual(3);
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});
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test('minMovementMm = 9999 → alle Marker gefiltert, ok: false', () => {
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const r = computeYAxis(fremdA, fremdB, fremdC, { minMovementMm: 9999 });
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expect(r.ok).toBe(false);
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expect(r.reason).toMatch(/gefiltert|gefunden/i);
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expect(Array.isArray(r.skipped)).toBe(true);
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});
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test('DEFAULT_MIN_MOVEMENT_MM ist 10', () => {
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expect(DEFAULT_MIN_MOVEMENT_MM).toBe(10.0);
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});
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});
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// ── Edge-Cases ────────────────────────────────────────────────────────────────
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describe('computeYAxis – Edge Cases', () => {
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test('leere Eingaben → ok: false', () => {
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const r = computeYAxis([], [], []);
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expect(r.ok).toBe(false);
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});
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test('keine gemeinsamen Marker → ok: false', () => {
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const a = [{ marker_id: 1, position_mm: [0, 0, 0] }];
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const b = [{ marker_id: 2, position_mm: [1, 0, 0] }];
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const c = [{ marker_id: 3, position_mm: [2, 0, 0] }];
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const r = computeYAxis(a, b, c);
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expect(r.ok).toBe(false);
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});
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test('drei kollineare Punkte → degenerat, ok: false (einzelner Marker)', () => {
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// Marker bewegt sich auf einer Linie → Kreisebene undefiniert
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const a = [{ marker_id: 99, position_mm: [0, 0, 100] }];
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const b = [{ marker_id: 99, position_mm: [0, 100, 100] }]; // nur Y ändert sich
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const c = [{ marker_id: 99, position_mm: [0, 200, 100] }]; // weiterhin nur Y
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// Bewegung ist 200 mm (> 10 mm Threshold), aber Punkte sind kollinear
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const r = computeYAxis(a, b, c, { minMovementMm: 0 });
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expect(r.ok).toBe(false);
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});
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test('ein einzelner gültiger Marker → Achse berechenbar', () => {
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// Punkt bewegt sich auf einem Kreisbogen (einfache 2D-Rotation um Z-Achse)
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const R = 100; // Radius 100 mm
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const angle = (deg) => deg * Math.PI / 180;
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const mk = (deg) => ({
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marker_id: 42,
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position_mm: [R * Math.cos(angle(deg)), R * Math.sin(angle(deg)), 50],
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});
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const r = computeYAxis([mk(0)], [mk(90)], [mk(180)]);
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expect(r.ok).toBe(true);
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expect(r.numMarkers).toBe(1);
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// Achse sollte in Z-Richtung zeigen [0, 0, ±1]
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expect(Math.abs(r.axisDir[2])).toBeGreaterThan(0.99);
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});
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});
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