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This commit is contained in:
Zhengyu Peng
2021-12-10 16:51:08 -05:00
parent d020a35a5d
commit 55787583bc
1 changed files with 9 additions and 14 deletions
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23
software/rpi/path_generator.py
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@@ -37,27 +37,22 @@ def gen_backward_path(standby_coordinate, g_steps=20, g_radius=25):
return path+np.tile(standby_coordinate, (g_steps, 1, 1)) return path+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_fastforward_path(standby_coordinate): def gen_fastforward_path(standby_coordinate,g_steps = 20, y_radius = 50, z_radius = 30, x_radius = 10):
g_steps = 20 assert (g_steps % 2) == 0
y_radius = 50
z_radius = 30
x_radius = 10
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
path = np.zeros((g_steps, 6, 3)) path = np.zeros((g_steps, 6, 3))
path[:, 0, :] = semicircle2_generator( semi_circle_r = semicircle2_generator(
g_steps, y_radius, z_radius, x_radius) g_steps, y_radius, z_radius, x_radius)
path[:, 4, :] = semicircle2_generator( semi_circle_l = semicircle2_generator(
g_steps, y_radius, z_radius, -x_radius) g_steps, y_radius, z_radius, -x_radius)
mir_rpath = np.roll(path[:, 0, :], halfsteps, axis=0) path[:, [0,2], :] = np.tile(semi_circle_r[:, np.newaxis, :], (1, 2, 1))
path[:, 1, :] = mir_rpath path[:, 1, :] = np.roll(semi_circle_r, halfsteps, axis=0)
path[:, 2, :] = path[:, 0, :] path[:, 4, :] = semi_circle_l
path[:, [3,5], :] = np.tile(
mir_lpath = np.roll(path[:, 4, :], halfsteps, axis=0) np.roll(semi_circle_l[:, np.newaxis, :], halfsteps, axis=0), (1, 2, 1))
path[:, 3, :] = mir_lpath
path[:, 5, :] = mir_lpath
return path+np.tile(standby_coordinate, (g_steps, 1, 1)) return path+np.tile(standby_coordinate, (g_steps, 1, 1))