Draft of Documentation

info/position.aux

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+\relax 
+\providecommand \babel@aux [2]{\global \let \babel@toc \@gobbletwo }
+\@nameuse{bbl@beforestart}
+\catcode `"\active 
+\babel@aux{ngerman}{}
+\@writefile{toc}{\contentsline {section}{\numberline {1}Intro}{1}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {section}{\numberline {2}Angles}{1}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.1}Bizeps {\bf  \tt  y}}{1}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.2}Ellbow -- Rotation}{2}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.3}Forearm}{2}{}\protected@file@percent }
+\gdef \@abspage@last{2}

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info/position.tex

@@ -0,0 +1,90 @@
+\documentclass[a4paper,11pt]{article}
+
+% Zeichencodierung für deutsche Umlaute
+\usepackage[utf8]{inputenc}
+\usepackage[T1]{fontenc}
+
+% Grafiken einbinden
+\usepackage{graphicx}
+
+% Deutsche Sprache (Datum, Trennungen, etc.)
+\usepackage[ngerman]{babel}
+
+% Optional: bessere Schrift
+\usepackage{lmodern}
+
+\title{How to get  a robot position  from video image}
+\author{Christoph Kendel}
+\date{\today}
+
+\begin{document}
+
+\maketitle
+
+\section{Intro}
+
+My Robot-Arm does not have homing switches. I want to use WebCams and Aruco--Markers to get the position of each joint. This way
+I can get the position as well as double--check the position while working under load. 
+
+I work with Arucos. With my low resolution WebCam I can get reliable positions (when using two cams). But the angle resolution is not usable.
+So I have to calculate the angle of each element from the relative positions of the markers.
+
+\section{Angles}
+
+\subsection{Bizeps {\bf \tt   y}}
+
+To find the angle of the bizeps (upper arm) there are different options, depending on the angle-of-view and which
+ArUcos are visable.
+
+
+\vspace{2mm}
+
+\noindent
+\includegraphics[width=\linewidth]{pic/robot_image_a.png}
+
+\vspace{2mm}
+
+\noindent
+The calculation is based on two approaches: Position of the Markers 243 etc on the one hand, and relative position 198  $\leftrightarrow$ 229 on the other hand.
+
+\noindent
+\begin{minipage}{0.39\linewidth}
+Several ways to calculate {\tt y}: 
+\begin{itemize}
+\item 229 $\leftrightarrow$ 198 $\tan(y) = \frac{\Delta z}{\Delta y} $
+\item From $y_{\rm Axis}$ and the positions of 243, 229, 198 (each position on its own) we can calculate  $\tan(y+\delta)$
+	with a known $\delta$ from the geometry.
+
+Thus we get {\tt y}
+\end{itemize}
+\end{minipage}\hfill
+\begin{minipage}{0.6\linewidth}
+\includegraphics[width=\linewidth]{pic/robot_sideView_measurements.pdf}
+\end{minipage}
+
+\vspace{2mm}
+
+\noindent
+Each availiable (if marker is visible) approach to calculate {\tt y} is done, and the mean is calculated. We can check if they deviate too much, and give
+warnings.
+
+\subsection{Ellbow -- Rotation}
+
+At the ellbow there is a motor that turns the forearm arround. Depending on which Arucus are visible, the position {\tt a} of the motor can be calculated:
+
+\begin{itemize}
+\item {\tt x} of 223  or  ...
+\end{itemize}
+%
+%
+the
+{\tt y} and {\tt z} position of 223 etc can't be used, as it depends on the angle of the forearm and the angle of the bizeps. Thus is it less reliable.  (Although it would be a nice
+thing to use as a double--check).
+
+\subsection{Forearm}
+
+
+
+
+
+\end{document}

public/calculateActions.js

@@ -374,7 +374,8 @@ async function calculate() {
     const row242 = getRow(242, 3);
     const row200 = getRow(200, 3);
     const row204 = getRow(204, 3);
-    const row222 = getRow(222, 3);
+    const row222 = getRow(222, 3); // Ellbow
+    const row223 = getRow(223, 3); // Lower Arm 
 
     const angleYCandidates = [];
 
@@ -451,6 +452,7 @@ async function calculate() {
       });
     }
 
+
     if (angleYCandidates.length > 0) {
       buildFeatureFromCandidates(
         result,
@@ -521,14 +523,15 @@ async function calculate() {
       let x226 = 0;
       let xCount = 0;
 
-      if(row222){
-        x226 += row222.x_mm * 5;
-        xCount += 5;
-      }
       if (row226) {
         x226 += row226.x_mm * 5;
         xCount += 5;
       }
+      if(row222){
+        /// 222 should have the same as x226
+        x226 += row222.x_mm * 5;
+        xCount += 5;
+      }
       if (row229) {
         x226 += row229.x_mm + 90;
         xCount += 1;
@@ -618,6 +621,27 @@ async function calculate() {
           }
         }
       }
+
+      // Ellbow-Rotation wenn X Position OK und 223 oder so bekannt ist.
+      if(row223 && xCount > 2){
+        // unterarm-roll => a    aus der position von 223  
+        dx = row223.x_mm - x226;
+        // aus der X Position kann der Unterarm-Winkel (a) berechnet werden
+
+        const angleRad = Math.asin(dx / 35);
+        const angleDeg = 90 - angleRad * 180 / Math.PI;
+        addLog(result, `(xEllbowRotation = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad ) aus x von 223 und Ellbogen x226`);
+        addCalculation(result, {
+          type: "elbowRotationAFromX223",
+          input: {  
+            x223: row223.x_mm,
+            x226
+          },
+          output: {
+            angleRad, angleDeg
+          }
+        });
+      }
     }
 
     result.summary = {

test/calculateAction.03_ellbowRotation.test.js

@@ -0,0 +1,265 @@
+/**
+ * @jest-environment jsdom
+ */
+
+const fs = require("fs");
+const path = require("path");
+
+describe("calculate() row223 Ellbow-Rotation Tests", () => {
+
+    let calculate;
+
+    beforeEach(() => {
+        // DOM erzeugen
+        document.body.innerHTML = `
+            <textarea id="analysis-log"></textarea>
+        `;
+
+        // Fetch mocken - wird pro Test konfiguriert
+        global.fetch = jest.fn();
+
+        // Modul erst JETZT laden (DOM existiert)
+        ({ calculate } = require("../public/calculateActions.js"));
+    });
+
+    /**
+     * Hilfsfunktion: Erstellt ein CSV mit definierten row223.x_mm und x226 Wert
+     * @param {number} row223_x_mm - x_mm Wert für row223 (id=223)
+     * @param {number} x226_base - Basis-x_mm Wert für x226-Punkt (wird durch mehrere Punkte erreicht)
+     */
+    function createTestCSV(row223_x_mm, x226_base) {
+        const csvContent = `id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,seen_by
+222,${x226_base},120,65,0,0,3
+226,${x226_base},115,61,0,0,3
+229,${x226_base - 90},110,55,0,0,3
+223,${row223_x_mm},125,62,0,0,3
+`;
+        return csvContent;
+    }
+
+    /**
+     * Berechnet den erwarteten Winkel basierend auf Formel aus calculateActions.js
+     * angleRad = Math.asin(dx / 35)
+     * angleDeg = 90 - angleRad * 180 / Math.PI
+     */
+    function calculateExpectedAngle(row223_x_mm, x226) {
+        const dx = row223_x_mm - x226;
+        if (Math.abs(dx) > 35) {
+            return null; // Math.asin() erlaubt nur Werte zwischen -1 und 1
+        }
+        const angleRad = Math.asin(dx / 35);
+        const angleDeg = 90 - angleRad * 180 / Math.PI;
+        return { angleRad, angleDeg, dx };
+    }
+
+    // Test 1: row223 mit x_mm = x226 (dx = 0, erwarteter Winkel = 90°)
+    test("row223.x_mm = x226 sollte Winkel von 90° ergeben", async () => {
+        const x226_base = 100;
+        const row223_x_mm = x226_base; // dx = 0
+        const csvContent = createTestCSV(row223_x_mm, x226_base);
+
+        global.fetch.mockResolvedValueOnce({
+            ok: true,
+            headers: { get: () => "text/csv" },
+            text: async () => csvContent
+        });
+
+        const result = await calculate();
+
+        // xCount sollte > 2 sein (wir haben 4 Zeilen)
+        expect(result.status).toBe("ok");
+
+        // Überprüfe, ob die elbowRotationAFromX223 Berechnung vorhanden ist
+        const elbowRotationCalc = result.calculations.find(
+            c => c.type === "elbowRotationAFromX223"
+        );
+
+        expect(elbowRotationCalc).toBeDefined();
+        expect(elbowRotationCalc.output.angleDeg).toBeCloseTo(90, 1);
+        expect(elbowRotationCalc.output.angleRad).toBeCloseTo(0, 4);
+    });
+
+    // Test 2: row223 mit x_mm = x226 + 17.5 (dx = 17.5, erwarteter Winkel = 45°)
+    test("row223.x_mm = x226 + 17.5 sollte Winkel von 45° ergeben", async () => {
+        const x226_base = 100;
+        const row223_x_mm = x226_base + 17.5; // dx = 17.5
+        const csvContent = createTestCSV(row223_x_mm, x226_base);
+
+        global.fetch.mockResolvedValueOnce({
+            ok: true,
+            headers: { get: () => "text/csv" },
+            text: async () => csvContent
+        });
+
+        const result = await calculate();
+        const expected = calculateExpectedAngle(row223_x_mm, x226_base);
+
+        expect(result.status).toBe("ok");
+
+        const elbowRotationCalc = result.calculations.find(
+            c => c.type === "elbowRotationAFromX223"
+        );
+
+        expect(elbowRotationCalc).toBeDefined();
+        expect(elbowRotationCalc.output.angleDeg).toBeCloseTo(expected.angleDeg, 1);
+        expect(elbowRotationCalc.output.angleRad).toBeCloseTo(expected.angleRad, 3);
+    });
+
+    // Test 3: row223 mit x_mm = x226 + 35 (dx = 35, erwarteter Winkel = 0°)
+    test("row223.x_mm = x226 + 35 sollte Winkel von 0° ergeben", async () => {
+        const x226_base = 100;
+        const row223_x_mm = x226_base + 35; // dx = 35, asin(1) = π/2
+        const csvContent = createTestCSV(row223_x_mm, x226_base);
+
+        global.fetch.mockResolvedValueOnce({
+            ok: true,
+            headers: { get: () => "text/csv" },
+            text: async () => csvContent
+        });
+
+        const result = await calculate();
+        const expected = calculateExpectedAngle(row223_x_mm, x226_base);
+
+        expect(result.status).toBe("ok");
+
+        const elbowRotationCalc = result.calculations.find(
+            c => c.type === "elbowRotationAFromX223"
+        );
+
+        expect(elbowRotationCalc).toBeDefined();
+        expect(elbowRotationCalc.output.angleDeg).toBeCloseTo(expected.angleDeg, 1);
+        expect(elbowRotationCalc.output.angleRad).toBeCloseTo(expected.angleRad, 3);
+    });
+
+    // Test 4: row223 mit negativem dx (x_mm = x226 - 17.5, erwarteter Winkel = 135°)
+    test("row223.x_mm = x226 - 17.5 sollte Winkel von 135° ergeben", async () => {
+        const x226_base = 100;
+        const row223_x_mm = x226_base - 17.5; // dx = -17.5
+        const csvContent = createTestCSV(row223_x_mm, x226_base);
+
+        global.fetch.mockResolvedValueOnce({
+            ok: true,
+            headers: { get: () => "text/csv" },
+            text: async () => csvContent
+        });
+
+        const result = await calculate();
+        const expected = calculateExpectedAngle(row223_x_mm, x226_base);
+
+        expect(result.status).toBe("ok");
+
+        const elbowRotationCalc = result.calculations.find(
+            c => c.type === "elbowRotationAFromX223"
+        );
+
+        expect(elbowRotationCalc).toBeDefined();
+        expect(elbowRotationCalc.output.angleDeg).toBeCloseTo(expected.angleDeg, 1);
+        expect(elbowRotationCalc.output.angleRad).toBeCloseTo(expected.angleRad, 3);
+    });
+
+    // Test 5: row223 mit x_mm = x226 - 35 (dx = -35, erwarteter Winkel = 180°)
+    test("row223.x_mm = x226 - 35 sollte Winkel von 180° ergeben", async () => {
+        const x226_base = 100;
+        const row223_x_mm = x226_base - 35; // dx = -35, asin(-1) = -π/2
+        const csvContent = createTestCSV(row223_x_mm, x226_base);
+
+        global.fetch.mockResolvedValueOnce({
+            ok: true,
+            headers: { get: () => "text/csv" },
+            text: async () => csvContent
+        });
+
+        const result = await calculate();
+        const expected = calculateExpectedAngle(row223_x_mm, x226_base);
+
+        expect(result.status).toBe("ok");
+
+        const elbowRotationCalc = result.calculations.find(
+            c => c.type === "elbowRotationAFromX223"
+        );
+
+        expect(elbowRotationCalc).toBeDefined();
+        expect(elbowRotationCalc.output.angleDeg).toBeCloseTo(expected.angleDeg, 1);
+        expect(elbowRotationCalc.output.angleRad).toBeCloseTo(expected.angleRad, 3);
+    });
+
+    // Test 6: xCount > 2 Bedingung wird erfüllt
+    test("xCount muss > 2 sein, damit elbowRotationAFromX223 berechnet wird", async () => {
+        const x226_base = 100;
+        const row223_x_mm = x226_base + 10;
+        const csvContent = createTestCSV(row223_x_mm, x226_base);
+
+        global.fetch.mockResolvedValueOnce({
+            ok: true,
+            headers: { get: () => "text/csv" },
+            text: async () => csvContent
+        });
+
+        const result = await calculate();
+
+        // Überprüfe, dass die Berechnung stattgefunden hat
+        const elbowXEstimate = result.calculations.find(
+            c => c.type === "elbowXEstimate"
+        );
+        const elbowRotationCalc = result.calculations.find(
+            c => c.type === "elbowRotationAFromX223"
+        );
+
+        expect(elbowXEstimate).toBeDefined(); // xCount wurde berechnet
+        expect(elbowRotationCalc).toBeDefined(); // xCount > 2 und row223 existiert
+    });
+
+    // Test 7: Parametrisierter Test mit verschiedenen Winkeln
+    test.each([
+        { dx: 0, expectedDeg: 90, desc: "dx=0" },
+        { dx: 5, expectedDeg: 90 - Math.asin(5 / 35) * 180 / Math.PI, desc: "dx=5" },
+        { dx: 10, expectedDeg: 90 - Math.asin(10 / 35) * 180 / Math.PI, desc: "dx=10" },
+        { dx: -5, expectedDeg: 90 - Math.asin(-5 / 35) * 180 / Math.PI, desc: "dx=-5" },
+        { dx: -10, expectedDeg: 90 - Math.asin(-10 / 35) * 180 / Math.PI, desc: "dx=-10" },
+    ])(
+        "Verschiedene dx Werte sollten korrekte Winkel ergeben ($desc)",
+        async ({ dx, expectedDeg }) => {
+            const x226_base = 100;
+            const row223_x_mm = x226_base + dx;
+            const csvContent = createTestCSV(row223_x_mm, x226_base);
+
+            global.fetch.mockResolvedValueOnce({
+                ok: true,
+                headers: { get: () => "text/csv" },
+                text: async () => csvContent
+            });
+
+            const result = await calculate();
+
+            const elbowRotationCalc = result.calculations.find(
+                c => c.type === "elbowRotationAFromX223"
+            );
+
+            expect(elbowRotationCalc).toBeDefined();
+            expect(elbowRotationCalc.output.angleDeg).toBeCloseTo(expectedDeg, 1);
+        }
+    );
+
+    // Test 8: row223 Input wird korrekt in Output dokumentiert
+    test("row223.x_mm wird korrekt in Berechnung dokumentiert", async () => {
+        const x226_base = 100;
+        const row223_x_mm = 115;
+        const csvContent = createTestCSV(row223_x_mm, x226_base);
+
+        global.fetch.mockResolvedValueOnce({
+            ok: true,
+            headers: { get: () => "text/csv" },
+            text: async () => csvContent
+        });
+
+        const result = await calculate();
+
+        const elbowRotationCalc = result.calculations.find(
+            c => c.type === "elbowRotationAFromX223"
+        );
+
+        expect(elbowRotationCalc).toBeDefined();
+        expect(elbowRotationCalc.input.x223).toBe(row223_x_mm);
+        expect(elbowRotationCalc.input.x226).toBe(x226_base);
+    });
+});