Metadata-Version: 2.1
Name: pulseapi-integration-calibrate
Version: 0.0.3
Summary: Calibrate plane
Home-page: https://github.com/Matskevichivan/Calibrate
Author: Matskevich
Author-email: matskevichivan98@gmail.com
License: UNKNOWN
Description: ## Rounding motion for robot Pulse by Rozum Robotics
        
        ### Requirements
        Python 3.6+
        
        pulse-api (pip3 install pulse-api -i https://pip.rozum.com/simple)
        
        pulseapi-integration (pip3 install pulseapi-integration)
        
        ### Installation
        To get the latest version, use the following command:
        
        **pip install pulseapi-integration-calibrate**
        
        
        ### Getting started
        Examples use the latest version of the library.
        #### Quickstart
        
        ```python
        from pulseapi_integration_calibrate.plane import calibrate_reference_frame
        from pulseapi_integration import *
        
        host = "192.168.1.33:8081"
        robot = NewRobotPulse(host)
        
        CALIBRATE_FRAME_3P_P1_ORIGIN = 1 
        
        M1 = [x1,y1,z1]
        M2 = [x2,y2,z2]
        M3 = [x3,y3,z3]
        
        frame = calibrate_reference_frame([M1,M2,M3], method = CALIBRATE_FRAME_3P_P1_ORIGIN)
        robot.set_reference_frame(position(frame[0],frame[1]))
        ```
        
        #### New function:
        
        _calibrate_reference_frame(points,method)_
        
        Return calibrate frame
        
        **_Points definition:_**
        
        If method = CALIBRATE_FRAME_3P_P1_ORIGIN, then set points as in the image
        
        ![points](https://www.researchgate.net/profile/Wenzeng_Zhang2/publication/221104984/figure/fig1/AS:393976885596166@1470942817415/Three-points-in-part-coordinate-system.png)
        
        _**Methods:**_
        
        CALIBRATE_FRAME_3P_P1_ON_X = 0  # Calibrate by 3 points: [X, X+, Y+] (p1 on X axis)
        
        CALIBRATE_FRAME_3P_P1_ORIGIN = 1  # Calibrate by 3 points: [Origin, X+, XY+] (p1 is origin)
        
        CALIBRATE_FRAME_6P = 2  # Calibrate by 6 points
        
        **Important!**
        
        Now only CALIBRATE_FRAME_3P_P1_ORIGIN method works
        
        
        
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 3
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Requires-Python: >=3.6
Description-Content-Type: text/markdown
