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Update path_generator.py

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Zhengyu Peng 2021-12-11 15:27:10 -05:00
parent 7446d9d9d1
commit 42e61f3b55
1 changed files with 2 additions and 2 deletions
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4
software/rpi/path_generator.py
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@ -317,8 +317,8 @@ def gen_rotatez_path(standby_coordinate,
x = xy_radius * np.cos(i*step_angle) x = xy_radius * np.cos(i*step_angle)
y = xy_radius * np.sin(i*step_angle) y = xy_radius * np.sin(i*step_angle)
m = get_rotate_y_matrix(np.arctan2( m = get_rotate_y_matrix(np.arctan2(x, z_lift)*180/np.pi) * \
x, z_lift)*180/np.pi) * get_rotate_x_matrix(np.arctan2(y, 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] path[i, :, :] = ((np.matmul(m, scx.T)).T)[:, :-1]