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Commit 004777bc825f005d9db8818fd8e19e716266ab8f

Authored by Renan Matsuda
1 parent 44451842
Exists in master

ENH: code

Showing 2 changed files with 11 additions and 10 deletions   Show diff stats
invesalius/data/coordinates.py
  Diff comments   View file @004777b
... ... @@ -458,7 +458,7 @@ def HybridCoord(trk_init, trck_id, ref_mode):
458 458 obj_tracker_in_robot = db.transform_tracker_2_robot().transformation_tracker_2_robot(coord_tracker[2])
459 459  
460 460 if probe_tracker_in_robot is None:
461   - print("Getting raw tracker")
  461 + #print("Getting raw tracker")
462 462 probe_tracker_in_robot = coord_tracker[0]
463 463 ref_tracker_in_robot = coord_tracker[1]
464 464 obj_tracker_in_robot = coord_tracker[2]
... ...
invesalius/data/elfin_robot.py
  Diff comments   View file @004777b
... ... @@ -126,10 +126,12 @@ class TrackerProcessing:
126 126  
127 127 return versorfator
128 128  
129   - def arcmotion(self, actual_point, pc, coord_inv):
  129 + def arcmotion(self, actual_point, coord_head, coord_inv):
130 130  
131 131 p1 = coord_inv
132 132  
  133 + pc = coord_head[0], coord_head[1], coord_head[2], coord_inv[3], coord_inv[4], coord_inv[5]
  134 +
133 135 versorfator1_calculado = self.Versores(pc,actual_point)
134 136 init_ext_point = actual_point[0]+versorfator1_calculado[0],\
135 137 actual_point[1]+versorfator1_calculado[1],\
... ... @@ -281,17 +283,17 @@ class ControlRobot(threading.Thread):
281 283 self.coord_inv_old = coord_inv
282 284 else:
283 285 #self.trck_init_robot.SendCoordinates(coord_inv, const.MOTIONS["normal"])
284   - if self.process_tracker.correction_distance_calculation_target(coord_inv, coord_robot_raw) < 100 and not self.arcmotion_flag:
  286 + distance_target = self.process_tracker.correction_distance_calculation_target(coord_inv, coord_robot_raw)
  287 + if distance_target < 100 and not self.arcmotion_flag:
285 288 self.trck_init_robot.SendCoordinates(coord_inv, const.MOTIONS["normal"])
286 289  
287   - elif self.process_tracker.correction_distance_calculation_target(coord_inv, coord_robot_raw) >= 100 or self.arcmotion_flag:
  290 + elif distance_target >= 100 or self.arcmotion_flag:
288 291 actual_point = coord_robot_raw
289 292 if not self.arcmotion_flag:
290 293 coord_head = self.process_tracker.estimate_head_center(self.tracker,
291 294 current_ref_filtered).tolist()
292   - pc = coord_head[0], coord_head[1], coord_head[2], coord_inv[3], coord_inv[4], coord_inv[
293   - 5]
294   - self.target_linearout, self.target_arc = self.process_tracker.arcmotion(coord_robot_raw, pc,
  295 +
  296 + self.target_linearout, self.target_arc = self.process_tracker.arcmotion(coord_robot_raw, coord_head,
295 297 coord_inv)
296 298 self.arcmotion_flag = True
297 299 self.arcmotion_step_flag = const.MOTIONS["linear out"]
... ... @@ -305,9 +307,8 @@ class ControlRobot(threading.Thread):
305 307 elif self.arcmotion_flag and self.arcmotion_step_flag == const.MOTIONS["arc"]:
306 308 coord_head = self.process_tracker.estimate_head_center(self.tracker,
307 309 current_ref_filtered).tolist()
308   - pc = coord_head[0], coord_head[1], coord_head[2], coord_inv[3], coord_inv[4], coord_inv[
309   - 5]
310   - _, new_target_arc = self.process_tracker.arcmotion(coord_robot_raw, pc,
  310 +
  311 + _, new_target_arc = self.process_tracker.arcmotion(coord_robot_raw, coord_head,
311 312 coord_inv)
312 313 if np.allclose(np.array(new_target_arc[3:-1]), np.array(self.target_arc[3:-1]), 0, 1):
313 314 None
... ...