Update documentation.md

parent c1038ef6
......@@ -7,7 +7,7 @@ This class allows to control the robot by sending it commands over TCP/IP.
**MecaRobot**(*ip="192.168.0.100", port=10000, simulation_mode=False, enable_log=False*)
Connects to the robot. The robot is then activated, homed and moved to its initial position (every joint à 0°).
Connects to the robot. The robot is then activated, homed and moved to its initial position (every joint à 0°). The TRF is set so that it is in the same orientation as the WRF (see [here](https://photos.app.goo.gl/NYvc8TScCP2wfkna9)).
Parameters:
- **ip : *str***
......@@ -201,9 +201,9 @@ Parameters:
Clears the socket buffer if the robot is in tracking mode and do_clear_buffer is True.
### MecaRobotForDosimetry
This class inherits from the MecaRobot class and adapts it for scintillation dosimetry. It reads the signal of scintillators from a signal queue, while keeping track of each scintillators' position. The lowest scintillator is set as the tool reference frame (TRF), which means that the movement commands will send the lowest scintillator to the specified position. For each scintillator, two files will be created : one containing the scintillator's position relative to the source (scintillator_x_position_relative_to_source.txt) and one containing the scintillator's absolute distance to the source (scintillator_x_distance_to_source.txt). A file containing the scintillators' signal (scintillators_signal.txt) will be created, as well as a file containing the time (time.txt).
This class inherits from the MecaRobot class and adapts it for scintillation dosimetry. It keeps track of each scintillators' position in relation to the source. The lowest scintillator is set as the tool reference frame (TRF), which means that the movement commands will send the lowest scintillator to the specified position. For each scintillator, two files will be created : one containing the scintillator's position relative to the source (scintillator_x_position_relative_to_source.txt) and one containing the scintillator's absolute distance to the source (scintillator_x_distance_to_source.txt). A file containing the time (time.txt) will be created as well.
**MecaRobotForDosimetry**(*ip="192.168.0.100", port=10000, simulation_mode=False, enable_log=False, scintillators_positions=np.array([0,0,0]), source_position=np.array([0,0,0]), water_level=-np.inf, scintillators_signal_queue=None*)
**MecaRobotForDosimetry**(*ip="192.168.0.100", port=10000, simulation_mode=False, enable_log=False, scintillators_positions=np.array([[0,0,0]]), source_position=np.array([0,0,0])*)
Connects to the robot. The robot is then activated, homed and sent to its initial position (every joint at 0°).
......@@ -226,31 +226,15 @@ Parameters:
- **source_position : *np.ndarray***
Position (x, y, z) of the source (in mm) in relation to the base of the robot (world reference frame).
- **water_level : *float***
Height of the water in relation to the base of the robot (WRF). If specified, this will make sure that the robot never touches the water during sequences.
- **scintillators_signal_queue : *queue.Queue***
Queue object containing the scintillators' signal. Should be a LIFO queue (last in, first out).
**MecaRobotForDosimetry.start_tracking**()
Every time the robot stops during a linear, square or cube sequence, the scintillators' positions and signal are written in files.
Every time the robot stops during a linear, square or cube sequence, the scintillators' positions are written in files.
**MecaRobotForDosimetry.stop_tracking**()
Stops tracking and closes all the files.
**MecaRobotForDosimetry.get_scintillators_signal**()
Reads the last sample in the scintillator signal queue.
Return:
- **scintillators_signal : *np.ndarray***
Array of the signal channels.
**MecaRobotForDosimetry.get_scintillators_positions**()
Returns an array of the position of each scintillator in relation to the base of the robot (world reference frame) (in mm).
......@@ -271,10 +255,6 @@ Returns:
Array of the scintillators' position relative to source.
**MecaRobotForDosimetry.find_source_position**()
Automatically finds the source's position by moving along every axis near the source until we get the maximum signal. This assumes that an estimate of the source position as already been set, as it will move around this point to find the maximum. An example of the robot movements during the calibration procedure is shown [here](https://www.youtube.com/watch?v=5iPs_rH62hA).
**MecaRobotForDosimetry.move_position_relative_to_source**(*position*)
Moves the tool reference (TRF), which is the lowest scintillator by default, to a given position in the form (x,y,z) relative to the source position.
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