Refactoring ToDo List

[acbuynak]

Refactoring ToDo List

• [x] Create Ring Class inside of shapes.py

• Takes in diameter and level, returns the xyz points that form a ring

• [x] Move Rotation Matrix Generator (link) into DetectedObject parent class.

• [x] Create member function inside DetectedObject that input list of (xyz) tuples.

• Similar to this section (link)

• Uses rotMatrix generator to get rotation matrix.

• Use transformation tool to generate transform list, and subsequently poses

• Returns a list of poses

• [x] Update Documentation & TypeAssisting (similar to link)

• [x] Create _global_origin as a member of DetectedObject. Add usage throughout code.

• Specifically in Ring Class, rotMatrix generator, inclined planes method.

• [x] Rewrite InclinedPlanes to be transformation based.

• Edit scaling: Adjusts the angle in which planes are rotated towards the part

• Edit offset: Setback along

• [x] Edit SteppedRings

• Add offset: Distance variable along newly defined z-axis of the camera frame. (scalar dist)

• Add scaling: Modifies the size of each ring diameter (multiplier)

After refactoring steps as defined above.... We'll start developing the Dome Method.

[acbuynak]

Update:

Created new branch melodic-refactor. Completed below tasks..

• [x] Created Rings function in shapes.py
• [x] Moved _rotationMatrix_orient_z_axis into DetectedObject class
• [x] Created new DetectedObject function: _process_points_into_path