Update path_generator.py
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@ -89,9 +89,9 @@ def gen_fastbackward_path(standby_coordinate,
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return path+np.tile(standby_coordinate, (g_steps, 1, 1))
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def gen_leftturn_path(standby_coordinate):
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g_steps = 20
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g_radius = 25
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def gen_leftturn_path(standby_coordinate,
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g_steps=20,
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g_radius=25):
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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@ -109,9 +109,9 @@ def gen_leftturn_path(standby_coordinate):
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return leftturn+np.tile(standby_coordinate, (g_steps, 1, 1))
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def gen_rightturn_path(standby_coordinate):
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g_steps = 20
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g_radius = 25
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def gen_rightturn_path(standby_coordinate,
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g_steps=20,
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g_radius=25):
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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@ -129,9 +129,9 @@ def gen_rightturn_path(standby_coordinate):
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return rightturn+np.tile(standby_coordinate, (g_steps, 1, 1))
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def gen_shiftleft_path(standby_coordinate):
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g_steps = 20
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g_radius = 25
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def gen_shiftleft_path(standby_coordinate,
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g_steps=20,
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g_radius=25):
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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@ -151,9 +151,9 @@ def gen_shiftleft_path(standby_coordinate):
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return shiftleft+np.tile(standby_coordinate, (g_steps, 1, 1))
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def gen_shiftright_path(standby_coordinate):
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g_steps = 20
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g_radius = 25
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def gen_shiftright_path(standby_coordinate,
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g_steps=20,
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g_radius=25):
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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@ -173,14 +173,12 @@ def gen_shiftright_path(standby_coordinate):
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return shiftright+np.tile(standby_coordinate, (g_steps, 1, 1))
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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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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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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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@ -207,13 +205,10 @@ def gen_climb_path(standby_coordinate):
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return climbpath+np.tile(standby_coordinate, (g_steps, 1, 1))
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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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swing_angle = 15
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y_radius = 15
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def gen_rotatex_path(standby_coordinate,
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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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assert (g_steps % 4) == 0
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quarter = int(g_steps/4)
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