script/test/TestBugPcAPI2.py

@@ -1,6 +1,6 @@
 import ch.psi.pshell.imaging.MjpegSource as MjpegSource
 MjpegSource2 = get_context().pluginManager.getDynamicClass("MjpegSource2")
-add_device(MjpegSource("gripper_cam", "http://129.129.110.114/axis-cgi/mjpg/video.cgi"), True)
+add_device(MjpegSource("gripper_cam", "http://axis-accc8e9cc87b.psi.ch/axis-cgi/mjpg/video.cgi"), True)
 #gripper_cam.polling=1000
 gripper_cam.monitored = True
 show_panel(gripper_cam)

script/test/TestEuclidean.py

@@ -0,0 +1,23 @@
+import org.apache.commons.math3.geometry.euclidean.threed.Segment as Segment
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D as Vector3D
+import org.apache.commons.math3.geometry.euclidean.threed.Line as Line
+
+
+p = Vector3D(0, 0, 3)
+
+p1 = Vector3D(0,0,0)
+p2 = Vector3D(0,1,1 )
+tolerance = 0.001
+
+l = Line(p1, p2, tolerance)
+
+
+print l.distance(p)
+print p1.distance(p)
+print p2.distance(p)
+print "---"
+
+print l.getAbscissa(p)
+print l.pointAt(l.getAbscissa(p))
+
+#print l.closestPoint(Line(p, p, 0.01))

script/test/TestMicrohawk.py

@@ -2,8 +2,8 @@ import ch.psi.pshell.serial.TcpDevice as TcpDevice
 import ch.psi.pshell.serial.UdpDevice as UdpDevice
 
 
-microscan = TcpDevice("microscan", "129.129.126.200:2001")
-#microscan = UdpDevice("microscan", "129.129.126.200:2001")
+microscan = TcpDevice("microscan", "MicroHAWK38C528:2001")
+#microscan = UdpDevice("microscan", "MicroHAWK38C528:2001")
 microscan.initialize()
 
 

script/test/TestRecover.py

@@ -0,0 +1,15 @@
+print "Pos=" + str(robot.get_cartesian_pos())
+for p in robot.get_known_points():
+    print p + " = " + str(get_pnt(p))
+
+print "-------------"
+
+for segment in known_segments:
+    is_on_segment(segment)
+
+print "-------------"
+for segment in known_segments:
+    try:
+        move_to_segment(segment)
+    except:
+        print sys.exc_info()[1]