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()
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)
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()
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)
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)
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)
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)
def test_register_environment():
palp = Palpation()
palp.register_environment("env_registration_shifted.p")