增加机器人奇异点检测

scripts/build.ps1

@@ -133,6 +133,7 @@ $compileResult = emcc `
     -s USE_PTHREADS=0 `
     -O3 `
     -Wno-deprecated-literal-operator `
+    -Wno-deprecated-declarations `
     -o public/wasm/smart_math.js 2>&1
 
 $endTime = Get-Date

scripts/run_wasm_tests.js

@@ -142,6 +142,19 @@ function buildInverseRequest(command, robotUuid, poseStr, qInitStr, extra = {})
   };
 }
 
+function buildSingularityRequest(robotUuid, joints) {
+  return {
+    msg: "singularity check",
+    req_code: "AUTO_SINGULARITY",
+    req_from: "wasm_test",
+    req_cmd: "Cmd_Kinematics_check_singularity",
+    req_param: {
+      robot_uuid: robotUuid,
+      joints_str: jointArrayToString(joints),
+    },
+  };
+}
+
 // 构造 link 名称被整体替换的 URDF，用于验证初始化能自动推导运动学链。
 function buildRenamedUrdfFromDocs() {
   const urdfPath = path.join(rootDir, "docs", "urdf.xml");
@@ -195,6 +208,25 @@ async function runJointLimitCase(module) {
   return response;
 }
 
+// 检查奇异点分析接口会返回完整的雅可比 SVD 指标。
+async function runSingularityCheckCase(module) {
+  const response = callBusinessApi(module, buildSingularityRequest("abb_irb120_3_58", [0.15, -0.25, 0.35, 0.1, -0.2, 0.3]));
+  ensure(response.success === true, "singularity check request failed");
+  ensure(getByPath(response, "res_data.success") === true, "singularity check result is not successful");
+  ensure(Array.isArray(getByPath(response, "res_data.singular_values")), "singular values are missing");
+  ensure(getByPath(response, "res_data.singular_values").length === 6, "singular value count should be 6");
+  ensure(typeof getByPath(response, "res_data.condition_number") === "number", "condition number is missing");
+  ensure(typeof getByPath(response, "res_data.risk_level") === "string", "risk level is missing");
+  return {
+    details: {
+      riskLevel: getByPath(response, "res_data.risk_level"),
+      rank: getByPath(response, "res_data.rank"),
+      minSingularValue: getByPath(response, "res_data.min_singular_value"),
+      conditionNumber: getByPath(response, "res_data.condition_number"),
+    },
+  };
+}
+
 function assertStaticCase(response, assertions) {
   for (const assertion of assertions) {
     const actual = getByPath(response, assertion.path);
@@ -414,6 +446,10 @@ const suite = [
     id: "kinematics_joint_limit_rejects_fk",
     type: "joint_limit",
   },
+  {
+    id: "kinematics_singularity_check",
+    type: "singularity_check",
+  },
   {
     id: "spc_basic_5x30",
     type: "static",
@@ -587,6 +623,8 @@ async function runCase(module, testCase) {
       return runRenamedUrdfChainCase(module, testCase);
     case "joint_limit":
       return runJointLimitCase(module, testCase);
+    case "singularity_check":
+      return runSingularityCheckCase(module, testCase);
     default:
       throw new Error(`Unknown test type: ${testCase.type}`);
   }