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Merge branch 'main' of http://thinkcentre.local:3000/ChK/appRobotHoming

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chk
2026-04-29 15:18:11 +02:00
parent 42b83178a9 901eb65a7d
commit 9349c3e566
13 changed files with 341 additions and 306 deletions
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13
docs/position.aux
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\relax
\@writefile{toc}{\contentsline {section}{\numberline {1}Info}{1}{}\protected@file@percent }
\@writefile{toc}{\contentsline {section}{\numberline {2}Angles}{2}{}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {2.1}Bizeps {\bf \tt y}}{2}{}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Video Capture with recognized Aruco markers}}{2}{}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {2.2}Ellbow -- Rotation}{3}{}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces Front view and sideview of the forearm with calculation variables.}}{3}{}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {2.3}Forearm}{3}{}\protected@file@percent }
\@writefile{toc}{\contentsline {subsection}{\numberline {2.4}Hand}{4}{}\protected@file@percent }
\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces \small Hand with points to calculate the values for {\tt b, c, e}.}}{4}{}\protected@file@percent }
\@writefile{toc}{\contentsline {paragraph}{Limitations with the Hand:}{4}{}\protected@file@percent }
\@writefile{toc}{\contentsline {section}{\numberline {3}Program}{4}{}\protected@file@percent }
\gdef \@abspage@last{4}

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3
test/calculateAction.02_FetchDifferentCSV.test.js
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@@ -89,7 +89,8 @@ describe("calculate() Snapshot Tests", () => {
var valueDeg = result.features["forearm.angleZ"].valueDeg
//expect(valueDeg).toBeCloseTo(0, 10); // Erwartet ca. -137.28° mit 1 Dezimalstelle Genauigkeit
// expect(valueDeg).toBeCloseTo(7.4595, 1); // Erwartet ca. -137.28° mit 1 Dezimalstelle Genauigkeit
//expect(logValue).toMatch(/Starte Berechnung/);
//expect(logValue).toMatch(/CSV-Daten geladen/);
});

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test/calculateAction.03_EasyCSV.test.js Normal file
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/**
* @jest-environment jsdom
*/
const fs = require("fs");
const path = require("path");
describe("calculate() Snapshot Tests", () => {
let calculate;
let snapshotFile;
beforeEach(() => {
// Standard: irgendeine Datei setzen, falls Test nichts setzt
snapshotFile = "snapshot_default.csv";
// DOM erzeugen
document.body.innerHTML = `
<textarea id="analysis-log"></textarea>
`;
// Fetch dynamisch mocken
global.fetch = jest.fn(async () => {
const csvPath = path.join(__dirname, "snapshots", snapshotFile);
const csvContent = fs.readFileSync(csvPath, "utf8");
return {
ok: true,
headers: { get: () => "text/csv" },
text: async () => csvContent
};
});
// Modul erst JETZT laden (DOM existiert)
({ calculate } = require("../public/calculateActions.js"));
});
// ✅ Beispiel 1: Die Datei aus deiner Frage
test("Snapshot 1775406055428 wird korrekt geladen", async () => {
snapshotFile = "snapshot_video0_1775406055428_two_cam.csv";
var result = await calculate();
expect(global.fetch).toHaveBeenCalledWith("/api/latest-snapshot");
//console.log("Berechnungsergebnis:", result.features["forearm.angleZ"].valueDeg);
const r = result.features["forearm.angleZ"].valueDeg
expect(r).toBeCloseTo(131.3436, 1);
});
});

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20
test/snapshots/snapshot_video0_1775406055428_two_cam.csv Normal file
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id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
camera 0,20.57,-610.52,589.07,-122.982,0.983,-21.216
camera 1,285.64,-323.91,1175.28,-163.532,-2.871,-2.320
197,294.33,-107.10,42.66,24.178,87.583,-153.262,1
198,322.36,-51.62,105.51,-4.006,2.569,0.264,3
200,253.83,-32.23,119.85,1.613,0.280,1.853,3
201,229.66,88.35,77.42,54.528,62.860,30.165,1
204,255.24,119.60,126.69,0.415,2.861,0.328,3
205,853.43,-61.26,-149.90,20.853,-37.717,-9.272,2
207,847.45,33.87,-129.33,1.040,-7.604,-2.451,2
208,506.94,-73.83,-90.70,22.575,-11.879,-0.931,2
210,-2.98,-0.29,-1.22,-1.583,0.163,0.432,3
211,199.83,-0.12,-0.03,0.528,1.427,-0.276,3
215,199.72,-90.28,-0.47,-0.349,-0.487,-0.415,3
217,593.42,4.85,-8.36,115.523,-38.198,-61.266,3
218,392.41,-89.81,171.69,-56.876,7.958,168.535,3
219,397.44,-21.62,249.19,-58.657,26.538,137.623,3
222,411.95,-166.81,94.12,-51.900,-3.795,-176.339,3
229,324.14,-141.95,110.20,-4.029,2.223,0.193,3
243,341.92,-141.96,39.90,89.294,1.545,1.379,1
1 id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
2 camera 0,20.57,-610.52,589.07,-122.982,0.983,-21.216
3 camera 1,285.64,-323.91,1175.28,-163.532,-2.871,-2.320
4 197,294.33,-107.10,42.66,24.178,87.583,-153.262,1
5 198,322.36,-51.62,105.51,-4.006,2.569,0.264,3
6 200,253.83,-32.23,119.85,1.613,0.280,1.853,3
7 201,229.66,88.35,77.42,54.528,62.860,30.165,1
8 204,255.24,119.60,126.69,0.415,2.861,0.328,3
9 205,853.43,-61.26,-149.90,20.853,-37.717,-9.272,2
10 207,847.45,33.87,-129.33,1.040,-7.604,-2.451,2
11 208,506.94,-73.83,-90.70,22.575,-11.879,-0.931,2
12 210,-2.98,-0.29,-1.22,-1.583,0.163,0.432,3
13 211,199.83,-0.12,-0.03,0.528,1.427,-0.276,3
14 215,199.72,-90.28,-0.47,-0.349,-0.487,-0.415,3
15 217,593.42,4.85,-8.36,115.523,-38.198,-61.266,3
16 218,392.41,-89.81,171.69,-56.876,7.958,168.535,3
17 219,397.44,-21.62,249.19,-58.657,26.538,137.623,3
18 222,411.95,-166.81,94.12,-51.900,-3.795,-176.339,3
19 229,324.14,-141.95,110.20,-4.029,2.223,0.193,3
20 243,341.92,-141.96,39.90,89.294,1.545,1.379,1

266
test/snapshots/snapshot_video0_1775406055428_two_cam.json Normal file
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{
"metadata": {
"timestamp": "2026-04-05 16:20:55",
"reference_markers": [
210,
211,
215
],
"dict": "DICT_4X4_250",
"marker_size_mm": 25.0,
"rms_refs_px_cam1": 3.254055063488035,
"rms_refs_px_cam2": 2.329978520523634,
"description": "Two-camera joint optimization with triangulation"
},
"cameras": [
{
"id": "camera1",
"position_mm": [
20.567992853963712,
-610.5178800181857,
589.0698645481658
],
"orientation_deg": {
"roll": -122.98164282878035,
"pitch": 0.9825995865612873,
"yaw": -21.215599879804127
}
},
{
"id": "camera2",
"position_mm": [
285.63593460306214,
-323.91360133208565,
1175.2847066246202
],
"orientation_deg": {
"roll": -163.5318691962207,
"pitch": -2.8712676709036873,
"yaw": -2.319894538293139
}
}
],
"markers": [
{
"id": 197,
"position_mm": [
294.33174809359764,
-107.09776686381556,
42.657521092593576
],
"orientation_deg": {
"roll": 24.177685786502696,
"pitch": 87.58261710989703,
"yaw": -153.26161785260203
}
},
{
"id": 198,
"position_mm": [
322.35528564453125,
-51.62440872192383,
105.50933074951172
],
"orientation_deg": {
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