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)); }