public void TestMoveManipulatorTo()
{
var rng = new Random(312312);
for (var testNo = 0; testNo < 1000; ++testNo)
{
var x = rng.NextDouble() * 2 * Length - Length;
var y = rng.NextDouble() * 2 * Length - Length;
var a = rng.NextDouble() * 2 * Math.PI;
var angles = ManipulatorTask.MoveManipulatorTo(x, y, a);
Assert.AreEqual(3, angles.Length);
if (double.IsNaN(angles[0]))
{
continue;
}
var joints = AnglesToCoordinatesTask.GetJointPositions(
angles[0], angles[1], angles[2]);
Assert.AreEqual(3, joints.Length);
Assert.AreEqual(joints[2].X, x, 0.001);
Assert.AreEqual(joints[2].Y, y, 0.001);
}
}
public static void UpdateManipulator()
{
var angles = ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
Shoulder = angles[0];
Elbow = angles[1];
Wrist = angles[2];
}
public void TestMoveManipulatorTo()
{
var p = Generate();
var angles = ManipulatorTask.MoveManipulatorTo(p.x, p.y, p.angle);
var points = AnglesToCoordinatesTask.GetJointPositions(angles[0], angles[1], angles[2]);
var generatePoint = new PointF((float)p.x, (float)p.y);
Assert.AreEqual(generatePoint.X, points[2].X, 1e-4);
Assert.AreEqual(generatePoint.Y, points[2].Y, 1e-4);
}
public static void UpdateManipulator()
{
var newAngles = ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
if (newAngles[0] != Double.NaN && newAngles[1] != Double.NaN && newAngles[2] != Double.NaN)
{
Shoulder = newAngles[0];
Elbow = newAngles[1];
Wrist = newAngles[2];
}
}
public static void UpdateManipulator()
{
var newAngles = ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
if (!newAngles.Contains(double.NaN))
{
Shoulder = newAngles[0];
Elbow = newAngles[1];
Wrist = newAngles[2];
}
}
public static void UpdateManipulator()
{
var angles = ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
if (!double.IsNaN(angles[0]))
{
Shoulder = angles[0];
Elbow = angles[1];
Wrist = angles[2];
}
}
public static void UpdateManipulator()
{
// Вызовите ManipulatorTask.MoveManipulatorTo и обновите значения полей Shoulder, Elbow и Wrist,
// если они не NaN. Это понадобится для последней задачи.
var angle = Math.Acos(Math.Abs(X - AnglesToCoordinatesTask.GetJointPositions(Shoulder, Elbow, Wrist)[2].X) / Manipulator.Palm);
if (!double.IsNaN(Shoulder) && !double.IsNaN(Elbow) && !double.IsNaN(Wrist))
{
ManipulatorTask.MoveManipulatorTo(X, Y, angle);
}
}
public static void UpdateManipulator()
{
if (X != double.NaN && Y != double.NaN && Alpha != double.NaN)
{
double[] angles = ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
Shoulder = angles[0];
Elbow = angles[1];
Wrist = angles[2];
}
// Вызовите ManipulatorTask.MoveManipulatorTo и обновите значения полей Shoulder, Elbow и Wrist, если они не NaN
// Это понадобится для последней задачи.
}
public static void UpdateManipulator()
{
var angles = ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
if (angles.Any(double.IsNaN))
{
return;
}
Shoulder = angles[0];
Elbow = angles[1];
Wrist = angles[2];
}
public static void UpdateManipulator()
{
double[] angles = ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
foreach (var angle in angles)
{
if (Double.IsNaN(angle))
{
return;
}
}
Shoulder = angles[0];
Elbow = angles[1];
Wrist = angles[2];
}
/// Вызовите ManipulatorTask.MoveManipulatorTo и обновите значения полей Shoulder, Elbow и Wrist,
/// если они не NaN. Это понадобится для последней задачи.
public static void UpdateManipulator()
{
double[] angles = ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
bool needUpdate = false;
foreach (var angle in angles)
{
needUpdate = !angle.Equals(double.NaN);
}
if (needUpdate)
{
Shoulder = angles[0];
Elbow = angles[1];
Wrist = angles[2];
}
}
public void TestMoveManipulatorTo()
{
var random = new Random();
for (int i = 0; i < 10; ++i)
{
var x = random.Next(200);
var y = random.Next(200);
var angle = Math.PI * random.NextDouble();
var result = ManipulatorTask.MoveManipulatorTo(x, y, angle);
var joints = AnglesToCoordinatesTask.GetJointPositions(result[0],
result[1], result[2]);
Assert.AreEqual(x, joints[2].X, 1e-4);
Assert.AreEqual(y, joints[2].Y, 1e-4);
}
}
public void RndTestMoveManipulatorTo()
{
var random = new Random();
var x = random.NextDouble() * random.Next(0, 100);
var y = random.NextDouble() * random.Next(0, 100);
var getRandomAngle = random.Next(0, 100);
var angles = ManipulatorTask.MoveManipulatorTo(x, y, getRandomAngle);
var joints = AnglesToCoordinatesTask.GetJointPositions(
angles[0],
angles[1],
angles[2]);
var palm = joints[2];
Assert.AreEqual(x, palm.X, 1e-5);
Assert.AreEqual(y, palm.Y, 1e-5);
}
public void TestMoveManipulatorTo()
{
Random random = new Random();
for (int i = 0; i < 10; i++)
{
var x = random.Next();
var y = random.Next();
var angle = 2 * Math.PI * random.NextDouble();
var angles = ManipulatorTask.MoveManipulatorTo(x, y, angle);
if (!Double.IsNaN(angles[0]))
{
var coordinates = AnglesToCoordinatesTask.GetJointPositions(angles[0], angles[1], angles[2]);
Assert.AreEqual(x, coordinates[2].X, 1e-5);
Assert.AreEqual(y, coordinates[2].Y, 1e-5);
}
}
}
public void TestMoveManipulatorTo()
{
var rnd = new Random();
for (int i = 0; i < 1000; i++)
{
var x = rnd.Next(-300, 300);
var y = rnd.Next(-300, 300);
var al = rnd.NextDouble() * Math.PI;
var angles = ManipulatorTask.MoveManipulatorTo(x, y, al);
if (!double.IsNaN(angles[0]))
{
var coord = AnglesToCoordinatesTask.GetJointPositions(angles[0], angles[1], angles[2]);
Assert.AreEqual(x, coord[2].X, 0.001);
Assert.AreEqual(y, coord[2].Y, 0.001);
}
}
}
public void TestMoveManipulatorTo()
{
var random = new Random();
for (var i = 0; i < 1000; i++)
{
var x = random.Next(100) + random.NextDouble();
var y = random.Next(100) + random.NextDouble();
var alpha = random.Next(100) + random.NextDouble();
var actualAngles = ManipulatorTask.MoveManipulatorTo(x, y, alpha);
if (!actualAngles.Contains(double.NaN))
{
var actualCoordinates =
AnglesToCoordinatesTask.GetJointPositions(actualAngles[0], actualAngles[1], actualAngles[2]);
Assert.AreEqual(x, actualCoordinates[2].X, 1e-3, "X");
Assert.AreEqual(y, actualCoordinates[2].Y, 1e-3, "Y");
}
}
}
public static void UpdateManipulator()
{
// Вызовите ManipulatorTask.MoveManipulatorTo и обновите значения полей Shoulder, Elbow и Wrist,
// если они не NaN. Это понадобится для последней задачи.
var Updated = ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
if (Updated[0] == double.NaN || Updated[1] == double.NaN || Updated[2] == double.NaN)
{
Shoulder = double.NaN;
Elbow = double.NaN;
Wrist = double.NaN;
}
else
{
Shoulder = Updated[0];
Elbow = Updated[1];
Wrist = Updated[2];
}
}
public void TestMoveManipulatorTo()
{
var rng = new Random(TestSeed);
for (var testNo = 0; testNo < NumTests; ++testNo)
{
var x = rng.NextDouble() * 2 * FullSize - FullSize;
var y = rng.NextDouble() * 2 * FullSize - FullSize;
var a = rng.NextDouble() * 2 * Math.PI;
var angles = ManipulatorTask.MoveManipulatorTo(x, y, a);
Assert.AreEqual(3, angles.Length);
if (!Double.IsNaN(angles[0]))
{
var joints = AnglesToCoordinatesTask.GetJointPositions(
angles[0], angles[1], angles[2]);
Assert.AreEqual(3, joints.Length);
Assert.AreEqual(joints[2].X, x, 0.001);
Assert.AreEqual(joints[2].Y, y, 0.001);
}
}
}
public void TestMoveManipulatorTo()
{
var rng = new Random(TestSeed);
for (var testNo = 0; testNo < NumTests; ++testNo)
{ // выбираем какую-то точку. не факт, что мы до неё сможем дотянуться.
var x = rng.NextDouble() * 2 * FullSize - FullSize;
var y = rng.NextDouble() * 2 * FullSize - FullSize;
var a = rng.NextDouble() * 2 * Math.PI;
var angles = ManipulatorTask.MoveManipulatorTo(x, y, a);
Assert.AreEqual(3, angles.Length);
if (!Double.IsNaN(angles[0]))
{ // кажется, дотянулись! проверим, в нужную ли точку
var joints = AnglesToCoordinatesTask.GetJointPositions(
angles[0], angles[1], angles[2]);
Assert.AreEqual(3, joints.Length);
Assert.AreEqual(joints[2].X, x, 0.001);
Assert.AreEqual(joints[2].Y, y, 0.001);
}
}
}
public void TestMoveManipulatorTo()
{
const float armLength = Manipulator.Forearm + Manipulator.Palm + Manipulator.UpperArm;
var rnd = new Random();
for (var i = 0; i < 100; ++i)
{
var x = rnd.NextDouble() * 2 * armLength - armLength;
var y = rnd.NextDouble() * 2 * armLength - armLength;
var angle = rnd.NextDouble() * 2 * Math.PI;
var solution = ManipulatorTask.MoveManipulatorTo(x, y, angle);
if (double.IsNaN(solution[0]))
{
continue;
}
var palmEnd = AnglesToCoordinatesTask.GetJointPositions(
solution[0], solution[1], solution[2])[2];
Assert.AreEqual(palmEnd.X, x, 1e-4);
Assert.AreEqual(palmEnd.Y, y, 1e-4);
}
}
public void TestMoveManipulatorTo()
{
Random rand = new Random();
double x, y, angle;
x = Convert.ToDouble(rand.Next(1234567890)) / 300;
y = Convert.ToDouble(rand.Next(1234567890)) / 400;
angle = Convert.ToDouble(rand.Next(1234567890)) / 500;
var joints = ManipulatorTask.MoveManipulatorTo(x, y, angle);
var actual = AnglesToCoordinatesTask.GetJointPositions(joints[0], joints[1], joints[2])[2];
if (x * x + y * y <= Math.Pow(Manipulator.UpperArm + Manipulator.Forearm + Manipulator.Palm, 2))
{
Assert.AreEqual(x, actual.X, 1e-5);
Assert.AreEqual(y, actual.Y, 1e-5);
}
else
{
Assert.AreEqual(Double.NaN, joints[0]);
Assert.AreEqual(Double.NaN, joints[1]);
Assert.AreEqual(Double.NaN, joints[2]);
}
}
public static void UpdateManipulator()
{
// Вызовите ManipulatorTask.MoveManipulatorTo и обновите значения полей Shoulder, Elbow и Wrist,
// если они не NaN. Это понадобится для последней задачи.
ManipulatorTask.MoveManipulatorTo(X, Y, Alpha);
}
public void TestMoveManipulatorTo(double x, double y, double angle, double[] arr)
{
Assert.AreEqual(ManipulatorTask.MoveManipulatorTo(x, y, angle), arr);
//Assert.Fail("Write real tests here!");
}