56 lines
1.6 KiB
JavaScript
56 lines
1.6 KiB
JavaScript
const { calculate } = require('../public/calculateAngles');
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function foundMarkers(alpha, robot){
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const alphaPi = alpha * Math.PI / 180;
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m = {"markers": [{"id": 0, "position_mm":[0,Math.sin(alphaPi)*10,Math.cos(alphaPi)*10]}]}
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return m
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}
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robot = {
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"Elements":["Base", "Arm1"],
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"ElementLength":{"Arm1":250, "Arm2":250, "Finger1":100, "Finger2":100},
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"Joints":{
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"jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[0,0,0], "originSource":[null, "test", "test"]},
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},
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"Marker":[
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{"id":0, "on":"Arm1", "relPos":[0,0,10]}
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],
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"recognized":{"x":null, "y":null, "z":null}
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}
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function normalizeAngleDeg(angle) {
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return ((angle % 360) + 360) % 360;
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}
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describe('calculateAngles minimal test', () => {
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it('should run calculate() artificially created robot & testData', async () => {
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for (let alpha = -180; alpha <= 181; alpha += 15) {
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var result = calculate(foundMarkers(alpha, robot), robot);
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expect(result).toBeDefined();
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expect(robot.recognized.y).toBeDefined();
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expect(robot.recognized.y).toBeCloseTo(alpha,2);
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}
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})
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it('should run calculate() artificially created robot & testData 2', async () => {
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for (let alpha = -30; alpha <= 761; alpha += 15) {
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var result = calculate(foundMarkers(alpha, robot), robot);
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expect(result).toBeDefined();
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expect(robot.recognized.y).toBeDefined();
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expect(normalizeAngleDeg(robot.recognized.y)).toBeCloseTo(normalizeAngleDeg(alpha),2);
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}
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})
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}); |