55 lines
1.6 KiB
JavaScript
55 lines
1.6 KiB
JavaScript
const { calculate } = require('../public/calculateAngles');
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function foundMarkers(y, robot, a=0, translate=[0,0,0]){
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const alphaPi = y * Math.PI / 180;
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const pos20 = [0,Math.sin(alphaPi)*10,Math.cos(alphaPi)*10]
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m = {"markers": [
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{"id": 20, "position_mm": pos20 }
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]}
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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, "Joint1": 89.5, "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":[-89.5,0,0], "originSource":[null, "test", "test"]},
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"jointC":{"name":"Ellbow","type":"revolute","axis":[1,0,0],"parent":"Arm1","child":"Joint1", "origin":[-89.5, -250, 0]},
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"jointD":{"name":"EllbowTwist","type":"revolute","axis":[0,1,0],"parent":"Joint1","child":"Arm2", "origin":[0, -250, 0]}
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},
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"Marker":[
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{"id":20, "on":"Arm1", "relPos":[0,0,10]},
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{"id":40, "on":"Arm2", "relPos":[0,200,35]},
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{"id":41, "on":"Arm2", "relPos":[0,160,35]}
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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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var result = calculate(foundMarkers(45, 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(45,2);
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})
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}); |