def test_1r2t_cable_length(self, robot_1r2t: Robot,
ik_standard: Kinematics, archetype: Archetype,
parallel: bool, lower_bound: Union[Num, Vector],
upper_bound: Union[Num, Vector],
steps: Union[Num, Vector]):
robot = robot_1r2t
# create the criterion
criterion = CableLength(ik_standard,
np.asarray([0.50, 1.50]) * np.sqrt(2))
# create the grid calculator object
calculator = workspace.grid.Algorithm(archetype, criterion,
lower_bound, upper_bound, steps)
# evaluate workspace
workspace_grid = calculator.evaluate(robot, parallel=parallel)
def test_2r3t_cable_length(self, robot_2r3t: Robot,
ik_standard: Kinematics, archetype: Archetype,
parallel: bool):
robot = robot_2r3t
# create the criterion
criterion = CableLength(ik_standard,
np.asarray([0.5, 1.5]) * np.sqrt(3))
# create the hull calculator object
calculator = workspace.hull.Algorithm(archetype,
criterion,
center=[0.0, 0.0, 0.0])
# evaluate workspace
workspace_hull = calculator.evaluate(robot,
parallel=parallel,
verbose=20)