public void testConvertAngles()
{
RArm rArm = new RArm();
rArm.angles = new Angles();
rArm.angles.currAngles = new List<float> { Angles.inRadian(90), Angles.inRadian(90), Angles.inRadian(90), Angles.inRadian(90), Angles.inRadian(90) };
float ninety = Angles.inRadian(90);
float[] convertedAngles = rArm.convertAngles(new float[] { ninety, ninety, ninety, ninety });
Assert.AreEqual(convertedAngles[0], 0);
Assert.AreEqual(convertedAngles[1], 0);
Assert.AreEqual(convertedAngles[2], 0.9849572f);
Assert.AreEqual(convertedAngles[3], 0);
}
private void init()
{
try
{
rp = new RobotPostureProxy(ip, 9559);
rp.goToPosture("StandZero", 1);
}
catch (Exception)
{
MessageBox.Show("IP Adresse von Nao nicht erreichbar, prüfen Sie die Konfiguration!", "Fehler");
Application.Exit();
throw new Exception("Cannot connect to Proxy. Check IP-Configuration!");
}
try
{
List <String> joints = new List <string> {
"LArm", "RArm"
};
//mp = new MotionProxy(ip, port);
mpL = new MotionProxy(ip, port);
mpR = new MotionProxy(ip, port);
//mp.setStiffnesses(joints, 0.6f);
//List<float> angles = mp.getAngles(new String[] { "RShoulderPitch", "RShoulderRoll", "RElbowRoll", "RElbowYaw", "RWristYaw" } ,true);
}
catch (Exception)
{
throw new Exception("Cannot connect to Proxy");
}
RArm = new RArm(mpR);
LArm = new LArm(mpL);
}
private void init()
{
try
{
rp = new RobotPostureProxy(ip, 9559);
rp.goToPosture("StandZero", 1);
}
catch (Exception)
{
MessageBox.Show("IP Adresse von Nao nicht erreichbar, prüfen Sie die Konfiguration!", "Fehler");
Application.Exit();
throw new Exception("Cannot connect to Proxy. Check IP-Configuration!");
}
try
{
List<String> joints = new List<string> { "LArm", "RArm" };
//mp = new MotionProxy(ip, port);
mpL = new MotionProxy(ip, port);
mpR = new MotionProxy(ip, port);
//mp.setStiffnesses(joints, 0.6f);
//List<float> angles = mp.getAngles(new String[] { "RShoulderPitch", "RShoulderRoll", "RElbowRoll", "RElbowYaw", "RWristYaw" } ,true);
}
catch (Exception)
{
throw new Exception("Cannot connect to Proxy");
}
RArm = new RArm(mpR);
LArm = new LArm(mpL);
}
