clean
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@ -30,26 +30,6 @@ from lib import get_rotate_x_matrix, get_rotate_y_matrix, get_rotate_z_matrix
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import numpy as np
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# def gen_walk_path(standby_coordinate,
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# g_steps=20,
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# g_radius=25,
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# reverse=False):
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# assert (g_steps % 4) == 0
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# halfsteps = int(g_steps/2)
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# path = np.zeros((g_steps, 6, 3))
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# semi_circle = semicircle_generator(g_radius, g_steps, reverse=reverse)
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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(
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# np.roll(semi_circle[:, np.newaxis, :], halfsteps, axis=0), (1, 3, 1))
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# return {'coord': path+np.tile(standby_coordinate, (g_steps, 1, 1)),
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# 'type': 'motion'}
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def gen_walk_path(standby_coordinate,
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g_steps=20,
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g_radius=25,
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@ -57,13 +37,9 @@ def gen_walk_path(standby_coordinate,
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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# if direction == 'left':
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# shift_angle = 90
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# elif direction == 'right':
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# shift_angle = 270
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semi_circle = semicircle_generator(g_radius, g_steps)
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# shift 90 degree to make the path "left" shift
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semi_circle = np.array(path_rotate_z(semi_circle, direction))
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mir_path = np.roll(semi_circle, halfsteps, axis=0)
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