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@ -90,8 +90,13 @@ def gen_fastbackward_path(standby_coordinate,
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def gen_leftturn_path(standby_coordinate,
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def gen_leftturn_path(standby_coordinate,
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<<<<<<< HEAD
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g_steps = 20,
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g_steps = 20,
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g_radius = 25):
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g_radius = 25):
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=======
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g_steps=20,
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g_radius=25):
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>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
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assert (g_steps % 4) == 0
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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halfsteps = int(g_steps/2)
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@ -111,8 +116,13 @@ def gen_leftturn_path(standby_coordinate,
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def gen_rightturn_path(standby_coordinate,
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def gen_rightturn_path(standby_coordinate,
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<<<<<<< HEAD
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g_steps = 20,
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g_steps = 20,
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g_radius = 25):
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g_radius = 25):
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=======
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g_steps=20,
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g_radius=25):
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>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
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assert (g_steps % 4) == 0
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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halfsteps = int(g_steps/2)
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@ -131,8 +141,13 @@ def gen_rightturn_path(standby_coordinate,
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def gen_shiftleft_path(standby_coordinate,
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def gen_shiftleft_path(standby_coordinate,
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<<<<<<< HEAD
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g_steps = 20,
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g_steps = 20,
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g_radius = 25):
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g_radius = 25):
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=======
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g_steps=20,
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g_radius=25):
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>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
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assert (g_steps % 4) == 0
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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halfsteps = int(g_steps/2)
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@ -149,8 +164,13 @@ def gen_shiftleft_path(standby_coordinate,
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def gen_shiftright_path(standby_coordinate,
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def gen_shiftright_path(standby_coordinate,
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<<<<<<< HEAD
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g_steps = 20,
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g_steps = 20,
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g_radius = 25):
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g_radius = 25):
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=======
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g_steps=20,
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g_radius=25):
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>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
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assert (g_steps % 4) == 0
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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halfsteps = int(g_steps/2)
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@ -163,6 +183,7 @@ def gen_shiftright_path(standby_coordinate,
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path[:,[0,2,4],:] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1))
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path[:,[0,2,4],:] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1))
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path[:,[1,3,5],:] = np.tile(mir_path[:, np.newaxis, :], (1, 3, 1))
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path[:,[1,3,5],:] = np.tile(mir_path[:, np.newaxis, :], (1, 3, 1))
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<<<<<<< HEAD
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return path+np.tile(standby_coordinate, (g_steps, 1, 1))
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return path+np.tile(standby_coordinate, (g_steps, 1, 1))
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@ -172,6 +193,14 @@ def gen_climb_path(standby_coordinate,
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z_radius = 80,
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z_radius = 80,
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x_radius = 30,
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x_radius = 30,
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z_shift = -30):
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z_shift = -30):
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=======
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def gen_climb_path(standby_coordinate,
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g_steps=20,
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y_radius=20,
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z_radius=80,
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x_radius=30,
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z_shift=-30):
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>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
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assert (g_steps % 4) == 0
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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halfsteps = int(g_steps/2)
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@ -195,13 +224,10 @@ def gen_climb_path(standby_coordinate,
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return path+np.tile(standby_coordinate, (g_steps, 1, 1))
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return path+np.tile(standby_coordinate, (g_steps, 1, 1))
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def gen_rotatex_path(standby_coordinate):
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def gen_rotatex_path(standby_coordinate,
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# standby_coordinate = np.ones((6,3))
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g_steps=20,
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g_steps = 20
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swing_angle=15,
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y_radius=15):
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swing_angle = 15
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y_radius = 15
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assert (g_steps % 4) == 0
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assert (g_steps % 4) == 0
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quarter = int(g_steps/4)
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quarter = int(g_steps/4)
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