shark
/
hexapod
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
You cannot select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
master
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from 'e6b0bee20d'
${ noResults }
hexapod/software/rpi/path_generator.py

426 lines
21 KiB
Python
Raw Normal View History Unescape Escape

fast walk
3 years ago
from lib import semicircle_generator, semicircle2_generator
add left turn
3 years ago
from lib import path_rotate_z
rotate x
3 years ago
from lib import get_rotate_x_matrix
update
3 years ago
import numpy as np
add left turn
3 years ago
from collections import deque
update
3 years ago
update
3 years ago
def gen_forward_path():
update
3 years ago
# assert (g_steps % 4) == 0
g_steps = 20
g_radius = 25
halfsteps = int(g_steps/2)
path = np.zeros((g_steps, 6, 3))
path[:, 0, :] = semicircle_generator(g_radius, g_steps)
mir_path = np.roll(path[:, 0, :], halfsteps, axis=0)
path[:, 2, :] = path[:, 0, :]
path[:, 4, :] = path[:, 0, :]
path[:, 1, :] = mir_path
path[:, 3, :] = mir_path
path[:, 5, :] = mir_path
return path
add backward move
3 years ago
update
3 years ago
def gen_backward_path():
add backward move
3 years ago
# assert (g_steps % 4) == 0
g_steps = 20
g_radius = 25
halfsteps = int(g_steps/2)
path = np.zeros((g_steps, 6, 3))
path[:, 0, :] = semicircle_generator(g_radius, g_steps, reverse=True)
mir_path = np.roll(path[:, 0, :], halfsteps, axis=0)
path[:, 2, :] = path[:, 0, :]
path[:, 4, :] = path[:, 0, :]
path[:, 1, :] = mir_path
path[:, 3, :] = mir_path
path[:, 5, :] = mir_path
return path
fast walk
3 years ago
def gen_fastforward_path():
g_steps = 20
y_radius = 50
z_radius = 30
x_radius = 10
halfsteps = int(g_steps/2)
path = np.zeros((g_steps, 6, 3))
path[:, 0, :] = semicircle2_generator(
g_steps, y_radius, z_radius, x_radius)
path[:, 4, :] = semicircle2_generator(
g_steps, y_radius, z_radius, -x_radius)
mir_rpath = np.roll(path[:, 0, :], halfsteps, axis=0)
path[:, 1, :] = mir_rpath
path[:, 2, :] = path[:, 0, :]
mir_lpath = np.roll(path[:, 4, :], halfsteps, axis=0)
path[:, 3, :] = mir_lpath
path[:, 5, :] = mir_lpath
return path
def gen_fastbackward_path():
g_steps = 20
y_radius = 50
z_radius = 30
x_radius = 10
halfsteps = int(g_steps/2)
path = np.zeros((g_steps, 6, 3))
path[:, 0, :] = semicircle2_generator(
g_steps, y_radius, z_radius, x_radius, reverse=True)
path[:, 4, :] = semicircle2_generator(
g_steps, y_radius, z_radius, -x_radius, reverse=True)
mir_rpath = np.roll(path[:, 0, :], halfsteps, axis=0)
path[:, 1, :] = mir_rpath
path[:, 2, :] = path[:, 0, :]
mir_lpath = np.roll(path[:, 4, :], halfsteps, axis=0)
path[:, 3, :] = mir_lpath
path[:, 5, :] = mir_lpath
return path
add left turn
3 years ago
def gen_leftturn_path():
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
path = semicircle_generator(g_radius, g_steps)
mir_path = np.roll(path, halfsteps, axis=0)
leftturn = np.zeros((g_steps, 6, 3))
leftturn[:, 0, :] = np.array(path_rotate_z(path, 45))
leftturn[:, 1, :] = np.array(path_rotate_z(mir_path, 0))
leftturn[:, 2, :] = np.array(path_rotate_z(path, 315))
leftturn[:, 3, :] = np.array(path_rotate_z(mir_path, 225))
leftturn[:, 4, :] = np.array(path_rotate_z(path, 180))
leftturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135))
return leftturn
add right turn
3 years ago
def gen_rightturn_path():
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
path = semicircle_generator(g_radius, g_steps)
mir_path = np.roll(path, halfsteps, axis=0)
rightturn = np.zeros((g_steps, 6, 3))
rightturn[:, 0, :] = np.array(path_rotate_z(path, 45+180))
rightturn[:, 1, :] = np.array(path_rotate_z(mir_path, 0+180))
rightturn[:, 2, :] = np.array(path_rotate_z(path, 315+180))
rightturn[:, 3, :] = np.array(path_rotate_z(mir_path, 225+180))
rightturn[:, 4, :] = np.array(path_rotate_z(path, 180+180))
rightturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135+180))
return rightturn
shift left and right
3 years ago
def gen_shiftleft_path():
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
path = semicircle_generator(g_radius, g_steps)
# shift 90 degree to make the path "left" shift
path = path_rotate_z(path, 90)
mir_path = np.roll(path, halfsteps, axis=0)
shiftleft = np.zeros((g_steps, 6, 3))
shiftleft[:, 0, :] = path
shiftleft[:, 1, :] = mir_path
shiftleft[:, 2, :] = path
shiftleft[:, 3, :] = mir_path
shiftleft[:, 4, :] = path
shiftleft[:, 5, :] = mir_path
return shiftleft
def gen_shiftright_path():
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
path = semicircle_generator(g_radius, g_steps)
# shift 90 degree to make the path "left" shift
path = path_rotate_z(path, 270)
mir_path = np.roll(path, halfsteps, axis=0)
shiftright = np.zeros((g_steps, 6, 3))
shiftright[:, 0, :] = path
shiftright[:, 1, :] = mir_path
shiftright[:, 2, :] = path
shiftright[:, 3, :] = mir_path
shiftright[:, 4, :] = path
shiftright[:, 5, :] = mir_path
return shiftright
climb
3 years ago
def gen_climb_path():
g_steps = 20
y_radius = 20
z_radius = 80
x_radius = 30
z_shift = -30
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
rpath = semicircle2_generator(g_steps, y_radius, z_radius, x_radius)
rpath[:, 2] = rpath[:, 2]+z_shift
# rpath = [(x, y, z + z_shift) for x, y,
# z in semicircle2_generator(g_steps, y_radius, z_radius, x_radius)]
lpath = semicircle2_generator(g_steps, y_radius, z_radius, -x_radius)
lpath[:, 2] = lpath[:, 2]+z_shift
# lpath = [(x, y, z + z_shift) for x, y,
# z in semicircle2_generator(g_steps, y_radius, z_radius, -x_radius)]
mir_rpath = np.roll(rpath, halfsteps, axis=0)
mir_lpath = np.roll(lpath, halfsteps, axis=0)
climbpath = np.zeros((g_steps, 6, 3))
climbpath[:, 0, :] = rpath
climbpath[:, 1, :] = mir_rpath
climbpath[:, 2, :] = rpath
climbpath[:, 3, :] = mir_lpath
climbpath[:, 4, :] = lpath
climbpath[:, 5, :] = mir_lpath
return climbpath
rotate x
3 years ago
def gen_rotatex_path(standby_coordinate):
# standby_coordinate = np.ones((6,3))
g_steps = 20
swing_angle = 15
y_radius = 15
assert (g_steps % 4) == 0
quarter = int(g_steps/4)
path = np.zeros((g_steps, 6, 3))
result = []
step_angle = swing_angle / quarter
step_offset = y_radius / quarter
for i in range(quarter):
m = get_rotate_x_matrix(swing_angle - i*step_angle)
m[1, 3] = -i * step_offset
path[i, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
path[i, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
path[i, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
path[i, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
path[i, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
path[i, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
path[i, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
path[i, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
path[i, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
path[i, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
path[i, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
path[i, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
path[i, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
path[i, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
path[i, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
path[i, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
path[i, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
path[i, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
result.append(m)
for i in range(quarter):
m = get_rotate_x_matrix(-i*step_angle)
m[1, 3] = -y_radius + i * step_offset
idx = i+quarter
path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
result.append(m)
for i in range(quarter):
m = get_rotate_x_matrix(i*step_angle-swing_angle)
m[1, 3] = i * step_offset
idx = i+quarter*2
path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
result.append(m)
for i in range(quarter):
m = get_rotate_x_matrix(i*step_angle)
m[1, 3] = y_radius-i * step_offset
idx = i+quarter*3
path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
result.append(m)
return path
# return result, "matrix", 50, (0, quarter*2)