Update lib.py

software/rpi/lib.py

@@ -2,13 +2,12 @@ from collections import deque
 import math
 import numpy as np
 
-pi = math.acos(-1)
 
 def semicircle_generator(radius, steps, reverse=False):
     assert (steps % 4) == 0
     halfsteps = int(steps/2)
 
-    step_angle = pi / halfsteps
+    step_angle = np.pi / halfsteps
 
     result = []
 
@@ -18,7 +17,7 @@ def semicircle_generator(radius, steps, reverse=False):
 
     # second half, move forward in semicircle shape (y, z change)
     for i in range(halfsteps):
-        angle = pi - step_angle*i
+        angle = np.pi - step_angle*i
         y = radius * math.cos(angle)
         z = radius * math.sin(angle)
         result.append((0, y, z))
@@ -32,11 +31,12 @@ def semicircle_generator(radius, steps, reverse=False):
 
     return result
 
+
 def semicircle2_generator(steps, y_radius, z_radius, x_radius, reverse=False):
     assert (steps % 4) == 0
     halfsteps = int(steps/2)
 
-    step_angle = pi / halfsteps
+    step_angle = np.pi / halfsteps
 
     result = []
 
@@ -46,7 +46,7 @@ def semicircle2_generator(steps, y_radius, z_radius, x_radius, reverse=False):
 
     # second half, move forward in semicircle shape (y, z change)
     for i in range(halfsteps):
-        angle = pi - step_angle*i
+        angle = np.pi - step_angle*i
         y = y_radius * math.cos(angle)
         z = z_radius * math.sin(angle)
         x = x_radius * math.sin(angle)
@@ -61,8 +61,9 @@ def semicircle2_generator(steps, y_radius, z_radius, x_radius, reverse=False):
 
     return result
 
+
 def get_rotate_x_matrix(angle):
-    angle = angle * pi / 180
+    angle = angle * np.pi / 180
     return np.matrix([
         [1, 0, 0, 0],
         [0, math.cos(angle), -math.sin(angle), 0],
@@ -70,8 +71,9 @@ def get_rotate_x_matrix(angle):
         [0, 0, 0, 1],
     ])
 
+
 def get_rotate_y_matrix(angle):
-    angle = angle * pi / 180
+    angle = angle * np.pi / 180
     return np.matrix([
         [math.cos(angle), 0, math.sin(angle), 0],
         [0, 1, 0, 0],
@@ -79,8 +81,9 @@ def get_rotate_y_matrix(angle):
         [0, 0, 0, 1],
     ])
 
+
 def get_rotate_z_matrix(angle):
-    angle = angle * pi / 180
+    angle = angle * np.pi / 180
     return np.matrix([
         [math.cos(angle), -math.sin(angle), 0, 0],
         [math.sin(angle), math.cos(angle), 0, 0],
@@ -88,31 +91,39 @@ def get_rotate_z_matrix(angle):
         [0, 0, 0, 1],
     ])
 
+
 def matrix_mul(m, pt):
     ptx = list(pt) + [1]
     return list((m * np.matrix(ptx).T).T.flat)[:-1]
 
+
 def point_rotate_x(pt, angle):
     ptx = list(pt) + [1]
     return list((get_rotate_x_matrix(angle) * np.matrix(ptx).T).T.flat)[:-1]
 
+
 def point_rotate_y(pt, angle):
     ptx = list(pt) + [1]
     return list((get_rotate_y_matrix(angle) * np.matrix(ptx).T).T.flat)[:-1]
 
+
 def point_rotate_z(pt, angle):
     ptx = list(pt) + [1]
     return list((get_rotate_z_matrix(angle) * np.matrix(ptx).T).T.flat)[:-1]
 
+
 def path_rotate_x(path, angle):
     return [point_rotate_x(p, angle) for p in path]
 
+
 def path_rotate_y(path, angle):
     return [point_rotate_y(p, angle) for p in path]
 
+
 def path_rotate_z(path, angle):
     return [point_rotate_z(p, angle) for p in path]
 
+
 if __name__ == '__main__':
     pt = [0, 1, 0]
     print(point_rotate_z(pt, 270))