Reverse Move Analysis

• Changed Hrands video capture code to capture uncompressed video.
• Ran two test runs with recording uncompressed images: 16_08_03_10_51_39_TargetRun and 16_08_01_15_14_35_TargetRun
• Analyzed reverse moves with Peter at Caltech 8/8/16
• Found potential bug in video capture - moves happening between video recording.
• Changed analysis code "updateMotorMapsFromTargetData" to show correct iteration number.
• Found issue in MSIM (see email to Hrand) where angles change by large if point lies outside of patrol region.
• Example is PID 27 Target 121 Iterations 5 and 8 in 16_08_01_15_14_35_TargetRun
• It turned out that the reason is an old code rule that extends link 2 by a value from the XML file. This value was set to 7 pixels. Hence the strong deviation in angle.
• Corrective Action: New code first relaxes phi max by 3deg or so and then takes theta angle from centroid beeing radially projected on max radius.

-- JohannesGross - 08 Aug 2016