@wandelbots/nova-js 1.17.1-pr.feat-added-v2-client.64.9ac2247

package/src/lib/v2/motionStateUpdate.ts

@@ -0,0 +1,55 @@
+import type { TcpPose } from "@wandelbots/nova-api/v2"
+
+export function jointValuesEqual(
+  oldJointValues: number[],
+  newJointValues: number[],
+  changeDeltaThreshold: number,
+): boolean {
+  if (newJointValues.length !== oldJointValues.length) {
+    return true
+  }
+
+  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {
+    if (
+      Math.abs(newJointValues[jointIndex]! - oldJointValues[jointIndex]!) >
+      changeDeltaThreshold
+    ) {
+      return false
+    }
+  }
+
+  return true
+}
+
+export function tcpPoseEqual(
+  oldTcp: TcpPose | undefined,
+  newTcp: TcpPose | undefined,
+  changeDeltaThreshold: number,
+): boolean {
+  // undefined -> defined (+reverse) transition
+  if ((oldTcp === undefined && newTcp) || (oldTcp && newTcp === undefined)) {
+    return false
+  }
+
+  // the typechecker cannot resolve states to "!= undefined" if "&&" is used
+  if (oldTcp === undefined || newTcp === undefined) {
+    return true
+  }
+
+  let changedDelta = 0
+  changedDelta += Math.abs(oldTcp.orientation[0] - newTcp.orientation[0])
+  changedDelta += Math.abs(oldTcp.orientation[1] - newTcp.orientation[1])
+  changedDelta += Math.abs(oldTcp.orientation[2] - newTcp.orientation[2])
+  changedDelta += Math.abs(oldTcp.position[0] - newTcp.position[0])
+  changedDelta += Math.abs(oldTcp.position[1] - newTcp.position[1])
+  changedDelta += Math.abs(oldTcp.position[2] - newTcp.position[2])
+
+  if (changedDelta > changeDeltaThreshold) {
+    return false
+  }
+
+  return (
+    oldTcp.coordinate_system === newTcp.coordinate_system &&
+    oldTcp.tcp === newTcp.tcp
+  )
+}

package/src/lib/v2/vectorUtils.ts

@@ -0,0 +1,36 @@
+import * as THREE from "three"
+
+// Vector used by api endpoints
+export type Vector3d = [number, number, number]
+
+export function axisToIndex(axis: "x" | "y" | "z"): number {
+  switch (axis) {
+    case "x":
+      return 0
+    case "y":
+      return 1
+    case "z":
+      return 2
+  }
+}
+
+export function indexToAxis(index: number): "x" | "y" | "z" | null {
+  switch (index) {
+    case 0:
+      return "x"
+    case 1:
+      return "y"
+    case 2:
+      return "z"
+    default:
+      return null
+  }
+}
+
+export function vector3FromArray(vector: Vector3d): THREE.Vector3 {
+  return new THREE.Vector3(vector[0], vector[1], vector[2])
+}
+
+export function vector3ToArray(vector: THREE.Vector3): Vector3d {
+  return [vector.x, vector.y, vector.z]
+}