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from lib import semicircle_generator
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import numpy as np
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def forward_path():
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# assert (g_steps % 4) == 0
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g_steps = 20
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g_radius = 25
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halfsteps = int(g_steps/2)
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path = np.zeros((g_steps, 6, 3))
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path[:, 0, :] = semicircle_generator(g_radius, g_steps)
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mir_path = np.roll(path[:, 0, :], halfsteps, axis=0)
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path[:, 2, :] = path[:, 0, :]
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path[:, 4, :] = path[:, 0, :]
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path[:, 1, :] = mir_path
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path[:, 3, :] = mir_path
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path[:, 5, :] = mir_path
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return path
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def backward_path():
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# assert (g_steps % 4) == 0
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g_steps = 20
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g_radius = 25
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halfsteps = int(g_steps/2)
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path = np.zeros((g_steps, 6, 3))
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path[:, 0, :] = semicircle_generator(g_radius, g_steps, reverse=True)
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mir_path = np.roll(path[:, 0, :], halfsteps, axis=0)
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path[:, 2, :] = path[:, 0, :]
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path[:, 4, :] = path[:, 0, :]
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path[:, 1, :] = mir_path
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path[:, 3, :] = mir_path
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path[:, 5, :] = mir_path
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return path
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