Esempio n. 1
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def test_point_probe():
    palp = Palpation()
    try:
        palp.load_environment_registration("env_registration.p")
    except Exception as e:
        palp.register_environment("env_registration.p")
    # palp.pick_up_tool()

    raw_input("Will now listen to runPhase2.py. Press Enter to continue")
    rospy.spin()
Esempio n. 2
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def test_register_surface():
    palp = Palpation()
    try:
        palp.load_environment_registration("env_registration.p")
    except Exeption as e:
        palp.register_environment("env_registration.p")
    raw_input("Will now register surface. Press enter to continue")
    palp.register_surface(5)
Esempio n. 3
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def test_raster_scan_reverse():
    palp = Palpation()
    try:
        palp.load_environment_registration("env_registration.p")
    except Exception as e:
        palp.register_environment("env_registration.p")

    raw_input("Will now execute raster test. Press any key to continue")
    palp.execute_raster_reverse()
Esempio n. 4
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def execute_record_testing_grid_data():
    palp = Palpation()
    try:
        palp.load_environment_registration("env_registration.p")
    except Exception as e:
        palp.register_environment("env_registration.p")

    raw_input("Will now execute point probe grid test. Press any key to continue")
    palp.execute_record_testing_grid_data(20, 40, 1)
Esempio n. 5
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def test_scan_random_points():
    """Not done"""
    palp = Palpation()
    try:
        palp.load_environment_registration("env_registration.p")
    except Exeption as e:
        palp.register_environment("env_registration.p")
    raw_input("Will now register surface. Press enter to continue")
    palp.execute_scan_points_continuous(8)
Esempio n. 6
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def test_point_probe_grid():
    """ Rasters a single row on the tissue 30 times in the reverse direction"""

    palp = Palpation()
    try:
        palp.load_environment_registration("env_registration.p")
    except Exception as e:
        palp.register_environment("env_registration.p")

    raw_input("Will now execute point probe grid test. Press any key to continue")
    palp.execute_point_probe_grid(10, 20, 1)
Esempio n. 7
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def test_raster_single_row_reverse():
    """ Rasters a single row on the tissue 30 times in the reverse direction"""

    palp = Palpation()
    try:
        palp.load_environment_registration("env_registration.p")
    except Exception as e:
        palp.register_environment("env_registration.p")

    raw_input("Will now execute raster single row reverse test. Press any key to continue")
    palp.execute_raster_single_row_reverse(30, False)
Esempio n. 8
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def test_register_environment():
    palp = Palpation()
    palp.register_environment("env_registration_shifted.p")