public void Ctor_MustSetStartEndCorrectly()
{
URMovement movement = new URMovement(pose1, pose2);
Assert.True(Vector3D.Equals(pose1.Position, movement.Start.Position));
Assert.True(Vector3D.Equals(pose1.Rotation, movement.Start.Rotation));
Assert.True(Vector3D.Equals(pose2.Position, movement.End.Position));
Assert.True(Vector3D.Equals(pose2.Rotation, movement.End.Rotation));
}
public void Ctor_MustSetMovementCorrectly()
{
var expected = pose2;
URMovement movement = new URMovement(pose1, expected);
URPose actual = pose1 + movement.Movement;
Assert.True(Vector3D.Equals(actual.Position, expected.Position));
Assert.True(Vector3D.Equals(actual.Rotation, expected.Rotation));
}
// URscript control
private void Generate_Click(object sender, RoutedEventArgs e)
{
if ((point1 != null) && (point2 != null) && (point3 != null))
{
var scanmove = new URMovement(point1, point2);
var boundary = new RectangularBoundary(scanmove, point3);
double aperture = 0.06;
double overlap = 0.1;
var urMoves = PathPlanner.SStyle(boundary, aperture, overlap);
var safeDist = new URVector(new Vector3D(0, 0, 0.02), new Vector3D(0, 0, 0));
URScriptTextBox.Text = URScript.Generate("cscan", urMoves, safeDist);
}
}
public void CtorSetWithScanMovement_SetScanMovementCorretly()
{
var scanMove = new URMovement(lt, rt);
var point = new Point3D(-0.5, -1, 0);
var pose = new URPose(point, rotation);
var boundary = new RectangularBoundary(scanMove, pose);
var actual = lt + boundary.ScanMovement;
var expected = rt;
Assert.True(Vector3D.Equals(expected.Position, actual.Position));
Assert.True(Vector3D.Equals(expected.Rotation, actual.Rotation));
}
public void ForceMode_ShouleHaveCorrectIndent(uint level)
{
URPose start = new URPose(new Point3D(0, 1, 2), new Point3D(0, 0, 0));
URPose end = new URPose(new Point3D(1, 2, 3), new Point3D(0, 0, 0));
URMovement movement = new URMovement(start, end);
var cmds = URScript.ForceMode(level, movement).Split('\n');
//skip last line since it is empty line
for (int i = 0; i < cmds.Length - 1; i++)
{
Assert.StartsWith(URScript.Indent(level), cmds[i]);
Assert.NotEqual(' ', cmds[i][(int)level * 2]);
}
}
public void CtorSetWithScanMovement_SetCornerPositionsCorretly()
{
var scanMove = new URMovement(lt, rt);
var point = new Point3D(-0.5, -1, 0);
var pose = new URPose(point, rotation);
var boundary = new RectangularBoundary(scanMove, pose);
Assert.True(Vector3D.Equals(boundary.LeftTop.Position, lt.Position));
Assert.True(Vector3D.Equals(boundary.LeftTop.Rotation, lt.Rotation));
Assert.True(Vector3D.Equals(boundary.RightTop.Position, rt.Position));
Assert.True(Vector3D.Equals(boundary.RightTop.Rotation, rt.Rotation));
Assert.Equal(rb.Position.X, boundary.RightBottom.Position.X, precision);
Assert.Equal(rb.Position.Y, boundary.RightBottom.Position.Y, precision);
Assert.Equal(rb.Position.Z, boundary.RightBottom.Position.Z, precision);
Assert.True(Vector3D.Equals(boundary.RightBottom.Rotation, rb.Rotation));
Assert.Equal(lb.Position.X, boundary.LeftBottom.Position.X, precision);
Assert.Equal(lb.Position.Y, boundary.LeftBottom.Position.Y, precision);
Assert.Equal(lb.Position.Z, boundary.LeftBottom.Position.Z, precision);
Assert.True(Vector3D.Equals(boundary.LeftBottom.Rotation, lb.Rotation));
}
