From 42e61f3b55c97f38b76b6bfd09e62423aa7ce706 Mon Sep 17 00:00:00 2001 From: Zhengyu Peng Date: Sat, 11 Dec 2021 15:27:10 -0500 Subject: [PATCH] Update path_generator.py --- software/rpi/path_generator.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/software/rpi/path_generator.py b/software/rpi/path_generator.py index 0994ac7..879eca8 100644 --- a/software/rpi/path_generator.py +++ b/software/rpi/path_generator.py @@ -317,8 +317,8 @@ def gen_rotatez_path(standby_coordinate, x = xy_radius * np.cos(i*step_angle) y = xy_radius * np.sin(i*step_angle) - m = get_rotate_y_matrix(np.arctan2( - x, z_lift)*180/np.pi) * get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi) + m = get_rotate_y_matrix(np.arctan2(x, z_lift)*180/np.pi) * \ + get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi) path[i, :, :] = ((np.matmul(m, scx.T)).T)[:, :-1]