def _resample_test():
try:
print 'Test resampling data without padding...'
data,geodict = Grid2D._createSampleData(9,7)
gdalgrid = GDALGrid(data,geodict)
gdalgrid.save('test.bil')
newdict = {'xmin':3.0,'xmax':4.0,'ymin':3.0,'ymax':4.0,'xdim':1.0,'ydim':1.0}
newdict = Grid2D.fillGeoDict(newdict)
gdalgrid3 = GDALGrid.load('test.bil',samplegeodict=newdict,resample=True)
output = np.array([[34,35],
[41,42]])
np.testing.assert_almost_equal(gdalgrid3._data,output)
print 'Passed resampling data without padding...'
print 'Test resampling data with padding...'
data,geodict = Grid2D._createSampleData(4,4)
gdalgrid = GDALGrid(data,geodict)
gdalgrid.save('test.bil')
newdict = {'xmin':0.0,'xmax':4.0,'ymin':0.0,'ymax':4.0,'xdim':1.0,'ydim':1.0}
newdict = Grid2D.fillGeoDict(newdict)
gdalgrid3 = GDALGrid.load('test.bil',samplegeodict=newdict,resample=True,doPadding=True)
output = np.array([[np.nan,np.nan,np.nan,np.nan,np.nan],
[np.nan,2.5,3.5,4.5,np.nan],
[np.nan,6.5,7.5,8.5,np.nan],
[np.nan,10.5,11.5,12.5,np.nan],
[np.nan,np.nan,np.nan,np.nan,np.nan]])
np.testing.assert_almost_equal(gdalgrid3._data,output)
print 'Passed resampling data with padding...'
except AssertionError,error:
print 'Failed resample test:\n %s' % error
def _subset_test():
try:
print 'Testing subsetting of non-square grid...'
data,geodict = Grid2D._createSampleData(6,4)
gdalgrid = GDALGrid(data,geodict)
gdalgrid.save('test.bil')
newdict = {'xmin':1.5,'xmax':2.5,'ymin':1.5,'ymax':3.5,'xdim':1.0,'ydim':1.0}
gdalgrid3 = GDALGrid.load('test.bil',samplegeodict=newdict)
output = np.array([[9,10],
[13,14],
[17,18]])
np.testing.assert_almost_equal(gdalgrid3._data,output)
print 'Passed subsetting of non-square grid.'
except AssertionError,error:
print 'Failed subset test:\n %s' % error
def _pad_test():
try:
print 'Test padding data with null values...'
data,geodict = Grid2D._createSampleData(4,4)
gdalgrid = GDALGrid(data,geodict)
gdalgrid.save('test.bil')
newdict = {'xmin':-0.5,'xmax':4.5,'ymin':-0.5,'ymax':4.5,'xdim':1.0,'ydim':1.0}
gdalgrid2 = GDALGrid.load('test.bil',samplegeodict=newdict,doPadding=True)
output = np.array([[np.nan,np.nan,np.nan,np.nan,np.nan,np.nan],
[np.nan,0.0,1.0,2.0,3.0,np.nan],
[np.nan,4.0,5.0,6.0,7.0,np.nan],
[np.nan,8.0,9.0,10.0,11.0,np.nan],
[np.nan,12.0,13.0,14.0,15.0,np.nan],
[np.nan,np.nan,np.nan,np.nan,np.nan,np.nan]])
np.testing.assert_almost_equal(gdalgrid2._data,output)
print 'Passed padding data null values.'
except AssertionError,error:
print 'Failed padding test:\n %s' % error
# Define the x and y coordinates for 3 corners of the grid
grid_corners1: GridCorners = [
XYPoint(x = 0.25, y = 0), # Starting position
XYPoint(x = 0.46, y = 0.1), # Length of the grid
XYPoint(x = 0.42, y = 0.35), # width of the grid
]
# Symmetrical grid
grid_corners2: GridCorners = [
XYPoint(x = 0.25, y = 0),
XYPoint(x = 0.46,y = -0.1),
XYPoint(x = 0.42, y = -0.35),
]
# Using the corners and an amount of rows and columns, make the Grid2D
my_test_grid1 = Grid2D(grid_corners1, rows = 4, columns = 4)
my_test_grid2 = Grid2D(grid_corners2, rows = 4, columns = 4)
# Connect to Eva
host_ip = "your host"
token = "your token"
eva = Eva(host_ip, token)
# Set some default poses and a default orientation
pose_home = [0.057526037, 0.7658633, -1.9867575, 0.026749607, -1.732109, -0.011505207]
end_effector_orientation = {'w': 0.0, 'x': 0.0, 'y': 1.0, 'z': 0.0}
# Be carefull with this dimension - depending on the type of gripper
grid_z_position: float = 0.27
def __init__(self, grid_width, grid_height, visited=None):
Grid2D.__init__(self, grid_width, grid_height, visited)
from typing import List, Tuple, NamedTuple
import time
from evasdk import Eva
from grid2d import Grid2D, GridCorners, XYPoint
# Define the x and y coordinates for 3 corners of the grid
grid_corners: GridCorners = [
XYPoint(x = 0.25, y = 0),
XYPoint(x = 0.35, y = 0),
XYPoint(x = 0.35, y = 0.4),
]
# Using the corners and an amount of rows and columns, make the Grid2D
my_test_grid = Grid2D(grid_corners, rows = 4, columns = 4)
# Connect to Eva
host_ip = input("Please enter a Eva IP: ")
token = input("Please enter a valid Eva token: ")
eva = Eva(host_ip, token)
# Set some default poses and a default orientation
pose_home = [0.057526037, 0.7658633, -1.9867575, 0.026749607, -1.732109, -0.011505207]
end_effector_orientation = {'w': 0.0, 'x': 0.0, 'y': 1.0, 'z': 0.0}
grid_z_position: float = 0.4
print("Waiting for Robot lock")
with eva.lock():
print('Eva moving to home position')
eva.control_go_to(pose_home)
# For each grid position in the Grid2D
