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Commit 8c526577530f7bb73533c7a732c31029157d0d86

Authored by Renan
1 parent 839d45c1
Exists in master

ENH: more name refractor

Showing 2 changed files with 8 additions and 8 deletions   Show diff stats
invesalius/data/elfin_processing.py
  Diff comments   View file @8c52657
@@ -96,7 +96,7 @@ class TrackerProcessing: @@ -96,7 +96,7 @@ class TrackerProcessing:
96 96
97 return velocity, distance 97 return velocity, distance
98 98
99 - def versors(self, init_point, final_point): 99 + def compute_versors(self, init_point, final_point):
100 init_point = np.array(init_point) 100 init_point = np.array(init_point)
101 final_point = np.array(final_point) 101 final_point = np.array(final_point)
102 norm = (sum((final_point - init_point) ** 2)) ** 0.5 102 norm = (sum((final_point - init_point) ** 2)) ** 0.5
@@ -109,7 +109,7 @@ class TrackerProcessing: @@ -109,7 +109,7 @@ class TrackerProcessing:
109 109
110 pc = coord_head[0], coord_head[1], coord_head[2], coord_inv[3], coord_inv[4], coord_inv[5] 110 pc = coord_head[0], coord_head[1], coord_head[2], coord_inv[3], coord_inv[4], coord_inv[5]
111 111
112 - versorfactor1 = self.versors(pc, actual_point) 112 + versorfactor1 = self.compute_versors(pc, actual_point)
113 init_ext_point = actual_point[0] + versorfactor1[0], \ 113 init_ext_point = actual_point[0] + versorfactor1[0], \
114 actual_point[1] + versorfactor1[1], \ 114 actual_point[1] + versorfactor1[1], \
115 actual_point[2] + versorfactor1[2], \ 115 actual_point[2] + versorfactor1[2], \
@@ -120,12 +120,12 @@ class TrackerProcessing: @@ -120,12 +120,12 @@ class TrackerProcessing:
120 (p1[2] + actual_point[2]) / 2, 120 (p1[2] + actual_point[2]) / 2,
121 0, 0, 0) 121 0, 0, 0)
122 122
123 - newarr = (np.array(self.versors(pc, middle_point))) * 2 123 + newarr = (np.array(self.compute_versors(pc, middle_point))) * 2
124 middle_arc_point = middle_point[0] + newarr[0], \ 124 middle_arc_point = middle_point[0] + newarr[0], \
125 middle_point[1] + newarr[1], \ 125 middle_point[1] + newarr[1], \
126 middle_point[2] + newarr[2] 126 middle_point[2] + newarr[2]
127 127
128 - versorfactor3 = self.versors(pc, p1) 128 + versorfactor3 = self.compute_versors(pc, p1)
129 129
130 final_ext_arc_point = p1[0] + versorfactor3[0], \ 130 final_ext_arc_point = p1[0] + versorfactor3[0], \
131 p1[1] + versorfactor3[1], \ 131 p1[1] + versorfactor3[1], \
@@ -136,7 +136,7 @@ class TrackerProcessing: @@ -136,7 +136,7 @@ class TrackerProcessing:
136 136
137 return init_ext_point, target_arc 137 return init_ext_point, target_arc
138 138
139 - def head_move_threshold(self, current_ref): 139 + def compute_head_move_threshold(self, current_ref):
140 self.coord_vel.append(current_ref) 140 self.coord_vel.append(current_ref)
141 self.timestamp.append(time()) 141 self.timestamp.append(time())
142 if len(self.coord_vel) >= 10: 142 if len(self.coord_vel) >= 10:
invesalius/navigation/robot.py
  Diff comments   View file @8c52657
@@ -194,7 +194,7 @@ class ControlRobot(threading.Thread): @@ -194,7 +194,7 @@ class ControlRobot(threading.Thread):
194 194
195 self.trck_init_robot.SendCoordinates(coord, self.arc_motion_step_flag) 195 self.trck_init_robot.SendCoordinates(coord, self.arc_motion_step_flag)
196 196
197 - def control(self, coords_tracker_in_robot, coord_robot_raw, markers_flag): 197 + def robot_control(self, coords_tracker_in_robot, coord_robot_raw, markers_flag):
198 coord_ref_tracker_in_robot = coords_tracker_in_robot[1] 198 coord_ref_tracker_in_robot = coords_tracker_in_robot[1]
199 coord_obj_tracker_in_robot = coords_tracker_in_robot[2] 199 coord_obj_tracker_in_robot = coords_tracker_in_robot[2]
200 200
@@ -202,7 +202,7 @@ class ControlRobot(threading.Thread): @@ -202,7 +202,7 @@ class ControlRobot(threading.Thread):
202 current_ref = coord_ref_tracker_in_robot 202 current_ref = coord_ref_tracker_in_robot
203 if current_ref is not None and markers_flag[1]: 203 if current_ref is not None and markers_flag[1]:
204 current_ref_filtered = self.process_tracker.kalman_filter(current_ref) 204 current_ref_filtered = self.process_tracker.kalman_filter(current_ref)
205 - if self.process_tracker.head_move_threshold(current_ref_filtered): 205 + if self.process_tracker.compute_head_move_threshold(current_ref_filtered):
206 coord_inv = self.process_tracker.head_move_compensation(current_ref_filtered, 206 coord_inv = self.process_tracker.head_move_compensation(current_ref_filtered,
207 self.m_change_robot_to_head) 207 self.m_change_robot_to_head)
208 if self.coord_inv_old is None: 208 if self.coord_inv_old is None:
@@ -237,4 +237,4 @@ class ControlRobot(threading.Thread): @@ -237,4 +237,4 @@ class ControlRobot(threading.Thread):
237 self.target_flag = self.object_at_target_queue.get_nowait() 237 self.target_flag = self.object_at_target_queue.get_nowait()
238 self.object_at_target_queue.task_done() 238 self.object_at_target_queue.task_done()
239 239
240 - self.control(coords_tracker_in_robot, coord_robot_raw, markers_flag) 240 + self.robot_control(coords_tracker_in_robot, coord_robot_raw, markers_flag)