From a8179ebae1a96e2e614dc60f2b29b23be3f80be1 Mon Sep 17 00:00:00 2001 From: Zhengyu Peng Date: Wed, 23 Feb 2022 15:59:43 -0500 Subject: [PATCH] clean --- software/raspberry pi/path_generator.py | 26 +------------------------ 1 file changed, 1 insertion(+), 25 deletions(-) diff --git a/software/raspberry pi/path_generator.py b/software/raspberry pi/path_generator.py index a1d6d52..b675321 100644 --- a/software/raspberry pi/path_generator.py +++ b/software/raspberry pi/path_generator.py @@ -30,26 +30,6 @@ from lib import get_rotate_x_matrix, get_rotate_y_matrix, get_rotate_z_matrix import numpy as np -# def gen_walk_path(standby_coordinate, -# g_steps=20, -# g_radius=25, -# reverse=False): -# assert (g_steps % 4) == 0 - -# halfsteps = int(g_steps/2) - -# path = np.zeros((g_steps, 6, 3)) - -# semi_circle = semicircle_generator(g_radius, g_steps, reverse=reverse) - -# path[:, [0, 2, 4], :] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1)) -# path[:, [1, 3, 5], :] = np.tile( -# np.roll(semi_circle[:, np.newaxis, :], halfsteps, axis=0), (1, 3, 1)) - -# return {'coord': path+np.tile(standby_coordinate, (g_steps, 1, 1)), -# 'type': 'motion'} - - def gen_walk_path(standby_coordinate, g_steps=20, g_radius=25, @@ -57,13 +37,9 @@ def gen_walk_path(standby_coordinate, assert (g_steps % 4) == 0 halfsteps = int(g_steps/2) - # if direction == 'left': - # shift_angle = 90 - # elif direction == 'right': - # shift_angle = 270 semi_circle = semicircle_generator(g_radius, g_steps) - # shift 90 degree to make the path "left" shift + semi_circle = np.array(path_rotate_z(semi_circle, direction)) mir_path = np.roll(semi_circle, halfsteps, axis=0)