// 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 Generate_ShouldGenerateCorrectScript()
{
string name = "test";
URPose pose1 = new URPose(new Point3D(-1, 1, 0), new Point3D(0, 0, 0));
URPose pose2 = new URPose(new Point3D(1, 1, 0), new Point3D(0, 0, 0));
URPose pose3 = new URPose(new Point3D(1, -1, 0), new Point3D(0, 0, 0));
URPose pose4 = new URPose(new Point3D(-1, -1, 0), new Point3D(0, 0, 0));
List <IURMovement> moves = new List <IURMovement>();
moves.Add(new URMovement(pose1, pose2));
moves.Add(new URMovement(pose3, pose4));
URVector safe = new URVector(new Vector3D(0, 0, 1), new Vector3D(0, 0, 0));
var actual = URScript.Generate(name, moves, safe);
var expected =
"def test():\n" +
" movel(p[-1, 1, 1, 0, 0, 0], a=0.5, v=0.3)\n" +
" sleep(0.5)\n" +
" force_mode(p[0.0,0.0,0.0,0.0,0.0,0.0], [0, 0, 1, 0, 0, 0], [0.0, 0.0, -70.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.3490658503988659, 0.3490658503988659, 0.3490658503988659])\n" +
" movel(p[-1, 1, 0, 0, 0, 0], a=0.1, v=0.02)\n" +
" sleep(1)\n" +
" movel(p[1, 1, 0, 0, 0, 0], a=0.1, v=0.02)\n" +
" end_force_mode()\n" +
" sleep(0.5)\n" +
" movel(p[1, 1, 1, 0, 0, 0], a=0.1, v=0.1)\n" +
" movel(p[1, -1, 1, 0, 0, 0], a=0.5, v=0.3)\n" +
" sleep(0.5)\n" +
" force_mode(p[0.0,0.0,0.0,0.0,0.0,0.0], [0, 0, 1, 0, 0, 0], [0.0, 0.0, -70.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.3490658503988659, 0.3490658503988659, 0.3490658503988659])\n" +
" movel(p[1, -1, 0, 0, 0, 0], a=0.1, v=0.02)\n" +
" sleep(1)\n" +
" movel(p[-1, -1, 0, 0, 0, 0], a=0.1, v=0.02)\n" +
" end_force_mode()\n" +
" sleep(0.5)\n" +
" movel(p[-1, -1, 1, 0, 0, 0], a=0.1, v=0.1)\n" +
"end\n";
Assert.Equal(expected, actual);
}
public void SubtractMethodVectorPose_RotationShouldSubtract(
double x, double y, double z, // initial rotation
double dx, double dy, double dz, // ratation vector
double expectedX, double expectedY, double expectedZ) // expected position
{
Vector3D poseVector = new Vector3D(0, 0, 0);
Vector3D rotationVector = new Vector3D(dx, dy, dz);
URVector vector = new URVector(poseVector, rotationVector);
Point3D position = new Point3D(0, 0, 0);
Point3D rotation = new Point3D(x, y, z);
URPose pose = new URPose(position, rotation);
var finalPose = URVector.Subtract(vector, pose);
var actualX = finalPose.Rotation.X;
var actualY = finalPose.Rotation.Y;
var actualZ = finalPose.Rotation.Z;
Assert.Equal(expectedX, actualX);
Assert.Equal(expectedY, actualY);
Assert.Equal(expectedZ, actualZ);
}
public void SubtractionOperatorVectorVector_RotationVectorShouldSubtract(
double x1, double y1, double z1, // first rotation vector
double x2, double y2, double z2, // second rotation vector
double expectedX, double expectedY, double expectedZ) // expected rotation vector
{
Vector3D poseVector1 = new Vector3D(0, 0, 0);
Vector3D rotationVector1 = new Vector3D(x1, y1, z1);
URVector vector1 = new URVector(poseVector1, rotationVector1);
Vector3D poseVector2 = new Vector3D(0, 0, 0);
Vector3D rotationVector2 = new Vector3D(x2, y2, z2);
URVector vector2 = new URVector(poseVector2, rotationVector2);
var finalVector = vector1 - vector2;
var actualX = finalVector.RotationVector.X;
var actualY = finalVector.RotationVector.Y;
var actualZ = finalVector.RotationVector.Z;
Assert.Equal(expectedX, actualX);
Assert.Equal(expectedY, actualY);
Assert.Equal(expectedZ, actualZ);
}
public void AddittionOperatorVectorPose_RotationShouldAdd(
double x, double y, double z, // initial rotation
double dx, double dy, double dz, // rotation vector
double expectedX, double expectedY, double expectedZ) // expected rotation
{
Vector3D poseVector = new Vector3D(0, 0, 0);
Vector3D rotationVector = new Vector3D(dx, dy, dz);
URVector vector = new URVector(poseVector, rotationVector);
Point3D position = new Point3D(0, 0, 0);
Point3D rotation = new Point3D(x, y, z);
URPose pose = new URPose(position, rotation);
var finalPose = vector + pose;
var actualX = finalPose.Rotation.X;
var actualY = finalPose.Rotation.Y;
var actualZ = finalPose.Rotation.Z;
Assert.Equal(expectedX, actualX);
Assert.Equal(expectedY, actualY);
Assert.Equal(expectedZ, actualZ);
}
public void SubtractionOperatorPoseVector_PoseShouldSubtract(
double x, double y, double z, // initial position
double dx, double dy, double dz, // vector
double expectedX, double expectedY, double expectedZ) // expected position
{
Point3D position = new Point3D(x, y, z);
Point3D rotation = new Point3D(0, 0, 0);
URPose pose = new URPose(position, rotation);
Vector3D poseVector = new Vector3D(dx, dy, dz);
Vector3D rotationVector = new Vector3D(0, 0, 0);
URVector vector = new URVector(poseVector, rotationVector);
var finalPose = pose - vector;
var actualX = finalPose.Position.X;
var actualY = finalPose.Position.Y;
var actualZ = finalPose.Position.Z;
Assert.Equal(expectedX, actualX);
Assert.Equal(expectedY, actualY);
Assert.Equal(expectedZ, actualZ);
}
public URMovement(URPose start, URPose end)
{
Start = start;
End = end;
Movement = End - Start;
}
