from lib import semicircle_generator, semicircle2_generator from lib import path_rotate_z from lib import get_rotate_x_matrix, get_rotate_y_matrix, get_rotate_z_matrix import numpy as np from collections import deque def gen_forward_path(standby_coordinate, g_steps=20, g_radius=25): 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) 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 path+np.tile(standby_coordinate, (g_steps, 1, 1)) def gen_backward_path(standby_coordinate, g_steps=20, g_radius=25): 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=True) 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 path+np.tile(standby_coordinate, (g_steps, 1, 1)) def gen_fastforward_path(standby_coordinate, g_steps=20, y_radius=50, z_radius=30, x_radius=10): assert (g_steps % 2) == 0 halfsteps = int(g_steps/2) path = np.zeros((g_steps, 6, 3)) semi_circle_r = semicircle2_generator( g_steps, y_radius, z_radius, x_radius) semi_circle_l = semicircle2_generator( g_steps, y_radius, z_radius, -x_radius) path[:, [0, 2], :] = np.tile(semi_circle_r[:, np.newaxis, :], (1, 2, 1)) path[:, 1, :] = np.roll(semi_circle_r, halfsteps, axis=0) path[:, 4, :] = semi_circle_l path[:, [3, 5], :] = np.tile( np.roll(semi_circle_l[:, np.newaxis, :], halfsteps, axis=0), (1, 2, 1)) return path+np.tile(standby_coordinate, (g_steps, 1, 1)) def gen_fastbackward_path(standby_coordinate, g_steps=20, y_radius=50, z_radius=30, x_radius=10): assert (g_steps % 2) == 0 halfsteps = int(g_steps/2) path = np.zeros((g_steps, 6, 3)) semi_circle_r = semicircle2_generator( g_steps, y_radius, z_radius, x_radius, reverse=True) semi_circle_l = semicircle2_generator( g_steps, y_radius, z_radius, -x_radius, reverse=True) path[:, [0, 2], :] = np.tile(semi_circle_r[:, np.newaxis, :], (1, 2, 1)) path[:, 1, :] = np.roll(semi_circle_r, halfsteps, axis=0) path[:, 4, :] = semi_circle_l path[:, [3, 5], :] = np.tile( np.roll(semi_circle_l[:, np.newaxis, :], halfsteps, axis=0), (1, 2, 1)) return path+np.tile(standby_coordinate, (g_steps, 1, 1)) def gen_leftturn_path(standby_coordinate, g_steps = 20, g_radius = 25): 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) mir_path = np.roll(semi_circle, halfsteps, axis=0) path[:, 0, :] = path_rotate_z(semi_circle, 45) path[:, 1, :] = path_rotate_z(mir_path, 0) path[:, 2, :] = path_rotate_z(semi_circle, 315) path[:, 3, :] = path_rotate_z(mir_path, 225) path[:, 4, :] = path_rotate_z(semi_circle, 180) path[:, 5, :] = path_rotate_z(mir_path, 135) return path+np.tile(standby_coordinate, (g_steps, 1, 1)) def gen_rightturn_path(standby_coordinate, g_steps = 20, g_radius = 25): assert (g_steps % 4) == 0 halfsteps = int(g_steps/2) semi_circle = semicircle_generator(g_radius, g_steps) mir_path = np.roll(semi_circle, halfsteps, axis=0) path = np.zeros((g_steps, 6, 3)) path[:, 0, :] = path_rotate_z(semi_circle, 45+180) path[:, 1, :] = path_rotate_z(mir_path, 0+180) path[:, 2, :] = path_rotate_z(semi_circle, 315+180) path[:, 3, :] = path_rotate_z(mir_path, 225+180) path[:, 4, :] = path_rotate_z(semi_circle, 180+180) path[:, 5, :] = path_rotate_z(mir_path, 135+180) return path+np.tile(standby_coordinate, (g_steps, 1, 1)) def gen_shiftleft_path(standby_coordinate, g_steps = 20, g_radius = 25): assert (g_steps % 4) == 0 halfsteps = int(g_steps/2) 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, 90)) mir_path = np.roll(semi_circle, halfsteps, axis=0) path = np.zeros((g_steps, 6, 3)) path[:,[0,2,4],:] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1)) path[:,[1,3,5],:] = np.tile(mir_path[:, np.newaxis, :], (1, 3, 1)) return path+np.tile(standby_coordinate, (g_steps, 1, 1)) def gen_shiftright_path(standby_coordinate, g_steps = 20, g_radius = 25): assert (g_steps % 4) == 0 halfsteps = int(g_steps/2) 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, 270)) mir_path = np.roll(semi_circle, halfsteps, axis=0) path = np.zeros((g_steps, 6, 3)) path[:,[0,2,4],:] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1)) path[:,[1,3,5],:] = np.tile(mir_path[:, np.newaxis, :], (1, 3, 1)) return path+np.tile(standby_coordinate, (g_steps, 1, 1)) def gen_climb_path(standby_coordinate, g_steps = 20, y_radius = 20, z_radius = 80, x_radius = 30, z_shift = -30): assert (g_steps % 4) == 0 halfsteps = int(g_steps/2) rpath = semicircle2_generator(g_steps, y_radius, z_radius, x_radius) rpath[:, 2] = rpath[:, 2]+z_shift lpath = semicircle2_generator(g_steps, y_radius, z_radius, -x_radius) lpath[:, 2] = lpath[:, 2]+z_shift mir_rpath = np.roll(rpath, halfsteps, axis=0) mir_lpath = np.roll(lpath, halfsteps, axis=0) path = np.zeros((g_steps, 6, 3)) path[:, 0, :] = rpath path[:, 1, :] = mir_rpath path[:, 2, :] = rpath path[:, 3, :] = mir_lpath path[:, 4, :] = lpath path[:, 5, :] = mir_lpath return path+np.tile(standby_coordinate, (g_steps, 1, 1)) def gen_rotatex_path(standby_coordinate, g_steps=20, swing_angle=15, y_radius=15): assert (g_steps % 4) == 0 quarter = int(g_steps/4) path = np.zeros((g_steps, 6, 3)) result = [] step_angle = swing_angle / quarter step_offset = y_radius / quarter for i in range(quarter): m = get_rotate_x_matrix(swing_angle - i*step_angle) m[1, 3] = -i * step_offset path[i, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0, 1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3] path[i, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0, 1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3] path[i, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0, 1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3] path[i, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1, 1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3] path[i, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1, 1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3] path[i, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1, 1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3] path[i, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2, 1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3] path[i, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2, 1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3] path[i, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2, 1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3] path[i, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3, 1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3] path[i, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3, 1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3] path[i, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3, 1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3] path[i, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4, 1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3] path[i, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4, 1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3] path[i, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4, 1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3] path[i, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5, 1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3] path[i, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5, 1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3] path[i, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5, 1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3] result.append(m) for i in range(quarter): m = get_rotate_x_matrix(-i*step_angle) m[1, 3] = -y_radius + i * step_offset idx = i+quarter path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0, 1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0, 1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0, 1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1, 1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1, 1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1, 1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2, 1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2, 1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2, 1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3, 1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3, 1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3, 1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4, 1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4, 1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4, 1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5, 1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5, 1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5, 1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3] result.append(m) for i in range(quarter): m = get_rotate_x_matrix(i*step_angle-swing_angle) m[1, 3] = i * step_offset idx = i+quarter*2 path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0, 1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0, 1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0, 1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1, 1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1, 1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1, 1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2, 1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2, 1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2, 1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3, 1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3, 1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3, 1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4, 1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4, 1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4, 1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5, 1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5, 1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5, 1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3] result.append(m) for i in range(quarter): m = get_rotate_x_matrix(i*step_angle) m[1, 3] = y_radius-i * step_offset idx = i+quarter*3 path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0, 1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0, 1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0, 1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1, 1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1, 1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1, 1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2, 1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2, 1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2, 1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3, 1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3, 1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3, 1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4, 1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4, 1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4, 1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5, 1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5, 1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5, 1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3] result.append(m) return path # return result, "matrix", 50, (0, quarter*2) def gen_rotatey_path(standby_coordinate): # standby_coordinate = np.ones((6,3)) g_steps = 20 swing_angle = 15 x_radius = 15 assert (g_steps % 4) == 0 quarter = int(g_steps/4) path = np.zeros((g_steps, 6, 3)) result = [] step_angle = swing_angle / quarter step_offset = x_radius / quarter for i in range(quarter): m = get_rotate_y_matrix(swing_angle - i*step_angle) m[1, 3] = -i * step_offset path[i, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0, 1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3] path[i, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0, 1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3] path[i, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0, 1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3] path[i, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1, 1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3] path[i, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1, 1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3] path[i, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1, 1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3] path[i, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2, 1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3] path[i, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2, 1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3] path[i, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2, 1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3] path[i, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3, 1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3] path[i, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3, 1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3] path[i, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3, 1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3] path[i, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4, 1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3] path[i, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4, 1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3] path[i, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4, 1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3] path[i, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5, 1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3] path[i, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5, 1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3] path[i, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5, 1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3] # result.append(m) for i in range(quarter): m = get_rotate_y_matrix(-i*step_angle) m[1, 3] = -x_radius + i * step_offset idx = i+quarter path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0, 1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0, 1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0, 1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1, 1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1, 1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1, 1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2, 1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2, 1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2, 1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3, 1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3, 1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3, 1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4, 1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4, 1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4, 1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5, 1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5, 1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5, 1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3] # result.append(m) for i in range(quarter): m = get_rotate_y_matrix(i*step_angle-swing_angle) m[1, 3] = i * step_offset idx = i+quarter*2 path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0, 1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0, 1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0, 1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1, 1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1, 1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1, 1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2, 1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2, 1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2, 1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3, 1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3, 1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3, 1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4, 1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4, 1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4, 1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5, 1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5, 1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5, 1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3] # result.append(m) for i in range(quarter): m = get_rotate_y_matrix(i*step_angle) m[1, 3] = x_radius-i * step_offset idx = i+quarter*3 path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0, 1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0, 1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0, 1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1, 1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1, 1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1, 1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2, 1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2, 1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2, 1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3, 1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3, 1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3, 1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4, 1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4, 1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4, 1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5, 1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5, 1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5, 1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3] # result.append(m) return path def gen_rotatez_path(standby_coordinate): # standby_coordinate = np.ones((6,3)) g_steps = 20 z_lift = 4.5 xy_radius = 1 assert (g_steps % 4) == 0 path = np.zeros((g_steps, 6, 3)) step_angle = 2*np.pi / g_steps for i in range(g_steps): x = xy_radius * np.cos(i*step_angle) y = xy_radius * np.sin(i*step_angle) m = get_rotate_y_matrix(np.arctan2( x, z_lift)*180/np.pi) * get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi) path[i, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0, 1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3] path[i, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0, 1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3] path[i, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0, 1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3] path[i, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1, 1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3] path[i, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1, 1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3] path[i, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1, 1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3] path[i, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2, 1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3] path[i, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2, 1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3] path[i, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2, 1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3] path[i, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3, 1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3] path[i, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3, 1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3] path[i, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3, 1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3] path[i, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4, 1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3] path[i, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4, 1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3] path[i, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4, 1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3] path[i, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5, 1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3] path[i, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5, 1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3] path[i, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5, 1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3] return path def gen_twist_path(standby_coordinate): g_steps = 20 raise_angle = 3 twist_x_angle = 20 twise_y_angle = 12 assert (g_steps % 4) == 0 quarter = int(g_steps / 4) step_x_angle = twist_x_angle / quarter step_y_angle = twise_y_angle / quarter m = get_rotate_x_matrix(raise_angle) path = np.zeros((g_steps, 6, 3)) for i in range(quarter): temp = m * get_rotate_z_matrix(i*step_x_angle) * \ get_rotate_x_matrix(i*step_y_angle) idx = i+quarter*0 path[idx, 0, 0] = standby_coordinate[0, 0]*temp[0, 0]+standby_coordinate[0, 1]*temp[0, 1]+standby_coordinate[0, 2]*temp[0, 2]+temp[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*temp[1, 0]+standby_coordinate[0, 1]*temp[1, 1]+standby_coordinate[0, 2]*temp[1, 2]+temp[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*temp[2, 0]+standby_coordinate[0, 1]*temp[2, 1]+standby_coordinate[0, 2]*temp[2, 2]+temp[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*temp[0, 0]+standby_coordinate[1, 1]*temp[0, 1]+standby_coordinate[1, 2]*temp[0, 2]+temp[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*temp[1, 0]+standby_coordinate[1, 1]*temp[1, 1]+standby_coordinate[1, 2]*temp[1, 2]+temp[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*temp[2, 0]+standby_coordinate[1, 1]*temp[2, 1]+standby_coordinate[1, 2]*temp[2, 2]+temp[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*temp[0, 0]+standby_coordinate[2, 1]*temp[0, 1]+standby_coordinate[2, 2]*temp[0, 2]+temp[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*temp[1, 0]+standby_coordinate[2, 1]*temp[1, 1]+standby_coordinate[2, 2]*temp[1, 2]+temp[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*temp[2, 0]+standby_coordinate[2, 1]*temp[2, 1]+standby_coordinate[2, 2]*temp[2, 2]+temp[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*temp[0, 0]+standby_coordinate[3, 1]*temp[0, 1]+standby_coordinate[3, 2]*temp[0, 2]+temp[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*temp[1, 0]+standby_coordinate[3, 1]*temp[1, 1]+standby_coordinate[3, 2]*temp[1, 2]+temp[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*temp[2, 0]+standby_coordinate[3, 1]*temp[2, 1]+standby_coordinate[3, 2]*temp[2, 2]+temp[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*temp[0, 0]+standby_coordinate[4, 1]*temp[0, 1]+standby_coordinate[4, 2]*temp[0, 2]+temp[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*temp[1, 0]+standby_coordinate[4, 1]*temp[1, 1]+standby_coordinate[4, 2]*temp[1, 2]+temp[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*temp[2, 0]+standby_coordinate[4, 1]*temp[2, 1]+standby_coordinate[4, 2]*temp[2, 2]+temp[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*temp[0, 0]+standby_coordinate[5, 1]*temp[0, 1]+standby_coordinate[5, 2]*temp[0, 2]+temp[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*temp[1, 0]+standby_coordinate[5, 1]*temp[1, 1]+standby_coordinate[5, 2]*temp[1, 2]+temp[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*temp[2, 0]+standby_coordinate[5, 1]*temp[2, 1]+standby_coordinate[5, 2]*temp[2, 2]+temp[2, 3] for i in range(quarter): temp = m * get_rotate_z_matrix((quarter-i)*step_x_angle) * \ get_rotate_x_matrix((quarter-i)*step_y_angle) idx = i+quarter*1 path[idx, 0, 0] = standby_coordinate[0, 0]*temp[0, 0]+standby_coordinate[0, 1]*temp[0, 1]+standby_coordinate[0, 2]*temp[0, 2]+temp[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*temp[1, 0]+standby_coordinate[0, 1]*temp[1, 1]+standby_coordinate[0, 2]*temp[1, 2]+temp[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*temp[2, 0]+standby_coordinate[0, 1]*temp[2, 1]+standby_coordinate[0, 2]*temp[2, 2]+temp[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*temp[0, 0]+standby_coordinate[1, 1]*temp[0, 1]+standby_coordinate[1, 2]*temp[0, 2]+temp[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*temp[1, 0]+standby_coordinate[1, 1]*temp[1, 1]+standby_coordinate[1, 2]*temp[1, 2]+temp[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*temp[2, 0]+standby_coordinate[1, 1]*temp[2, 1]+standby_coordinate[1, 2]*temp[2, 2]+temp[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*temp[0, 0]+standby_coordinate[2, 1]*temp[0, 1]+standby_coordinate[2, 2]*temp[0, 2]+temp[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*temp[1, 0]+standby_coordinate[2, 1]*temp[1, 1]+standby_coordinate[2, 2]*temp[1, 2]+temp[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*temp[2, 0]+standby_coordinate[2, 1]*temp[2, 1]+standby_coordinate[2, 2]*temp[2, 2]+temp[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*temp[0, 0]+standby_coordinate[3, 1]*temp[0, 1]+standby_coordinate[3, 2]*temp[0, 2]+temp[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*temp[1, 0]+standby_coordinate[3, 1]*temp[1, 1]+standby_coordinate[3, 2]*temp[1, 2]+temp[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*temp[2, 0]+standby_coordinate[3, 1]*temp[2, 1]+standby_coordinate[3, 2]*temp[2, 2]+temp[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*temp[0, 0]+standby_coordinate[4, 1]*temp[0, 1]+standby_coordinate[4, 2]*temp[0, 2]+temp[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*temp[1, 0]+standby_coordinate[4, 1]*temp[1, 1]+standby_coordinate[4, 2]*temp[1, 2]+temp[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*temp[2, 0]+standby_coordinate[4, 1]*temp[2, 1]+standby_coordinate[4, 2]*temp[2, 2]+temp[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*temp[0, 0]+standby_coordinate[5, 1]*temp[0, 1]+standby_coordinate[5, 2]*temp[0, 2]+temp[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*temp[1, 0]+standby_coordinate[5, 1]*temp[1, 1]+standby_coordinate[5, 2]*temp[1, 2]+temp[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*temp[2, 0]+standby_coordinate[5, 1]*temp[2, 1]+standby_coordinate[5, 2]*temp[2, 2]+temp[2, 3] for i in range(quarter): temp = m * get_rotate_z_matrix(-i*step_x_angle) * \ get_rotate_x_matrix(i*step_y_angle) idx = i+quarter*2 path[idx, 0, 0] = standby_coordinate[0, 0]*temp[0, 0]+standby_coordinate[0, 1]*temp[0, 1]+standby_coordinate[0, 2]*temp[0, 2]+temp[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*temp[1, 0]+standby_coordinate[0, 1]*temp[1, 1]+standby_coordinate[0, 2]*temp[1, 2]+temp[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*temp[2, 0]+standby_coordinate[0, 1]*temp[2, 1]+standby_coordinate[0, 2]*temp[2, 2]+temp[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*temp[0, 0]+standby_coordinate[1, 1]*temp[0, 1]+standby_coordinate[1, 2]*temp[0, 2]+temp[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*temp[1, 0]+standby_coordinate[1, 1]*temp[1, 1]+standby_coordinate[1, 2]*temp[1, 2]+temp[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*temp[2, 0]+standby_coordinate[1, 1]*temp[2, 1]+standby_coordinate[1, 2]*temp[2, 2]+temp[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*temp[0, 0]+standby_coordinate[2, 1]*temp[0, 1]+standby_coordinate[2, 2]*temp[0, 2]+temp[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*temp[1, 0]+standby_coordinate[2, 1]*temp[1, 1]+standby_coordinate[2, 2]*temp[1, 2]+temp[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*temp[2, 0]+standby_coordinate[2, 1]*temp[2, 1]+standby_coordinate[2, 2]*temp[2, 2]+temp[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*temp[0, 0]+standby_coordinate[3, 1]*temp[0, 1]+standby_coordinate[3, 2]*temp[0, 2]+temp[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*temp[1, 0]+standby_coordinate[3, 1]*temp[1, 1]+standby_coordinate[3, 2]*temp[1, 2]+temp[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*temp[2, 0]+standby_coordinate[3, 1]*temp[2, 1]+standby_coordinate[3, 2]*temp[2, 2]+temp[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*temp[0, 0]+standby_coordinate[4, 1]*temp[0, 1]+standby_coordinate[4, 2]*temp[0, 2]+temp[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*temp[1, 0]+standby_coordinate[4, 1]*temp[1, 1]+standby_coordinate[4, 2]*temp[1, 2]+temp[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*temp[2, 0]+standby_coordinate[4, 1]*temp[2, 1]+standby_coordinate[4, 2]*temp[2, 2]+temp[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*temp[0, 0]+standby_coordinate[5, 1]*temp[0, 1]+standby_coordinate[5, 2]*temp[0, 2]+temp[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*temp[1, 0]+standby_coordinate[5, 1]*temp[1, 1]+standby_coordinate[5, 2]*temp[1, 2]+temp[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*temp[2, 0]+standby_coordinate[5, 1]*temp[2, 1]+standby_coordinate[5, 2]*temp[2, 2]+temp[2, 3] for i in range(quarter): temp = m * get_rotate_z_matrix((-quarter+i)*step_x_angle) * \ get_rotate_x_matrix((quarter-i)*step_y_angle) idx = i+quarter*3 path[idx, 0, 0] = standby_coordinate[0, 0]*temp[0, 0]+standby_coordinate[0, 1]*temp[0, 1]+standby_coordinate[0, 2]*temp[0, 2]+temp[0, 3] path[idx, 0, 1] = standby_coordinate[0, 0]*temp[1, 0]+standby_coordinate[0, 1]*temp[1, 1]+standby_coordinate[0, 2]*temp[1, 2]+temp[1, 3] path[idx, 0, 2] = standby_coordinate[0, 0]*temp[2, 0]+standby_coordinate[0, 1]*temp[2, 1]+standby_coordinate[0, 2]*temp[2, 2]+temp[2, 3] path[idx, 1, 0] = standby_coordinate[1, 0]*temp[0, 0]+standby_coordinate[1, 1]*temp[0, 1]+standby_coordinate[1, 2]*temp[0, 2]+temp[0, 3] path[idx, 1, 1] = standby_coordinate[1, 0]*temp[1, 0]+standby_coordinate[1, 1]*temp[1, 1]+standby_coordinate[1, 2]*temp[1, 2]+temp[1, 3] path[idx, 1, 2] = standby_coordinate[1, 0]*temp[2, 0]+standby_coordinate[1, 1]*temp[2, 1]+standby_coordinate[1, 2]*temp[2, 2]+temp[2, 3] path[idx, 2, 0] = standby_coordinate[2, 0]*temp[0, 0]+standby_coordinate[2, 1]*temp[0, 1]+standby_coordinate[2, 2]*temp[0, 2]+temp[0, 3] path[idx, 2, 1] = standby_coordinate[2, 0]*temp[1, 0]+standby_coordinate[2, 1]*temp[1, 1]+standby_coordinate[2, 2]*temp[1, 2]+temp[1, 3] path[idx, 2, 2] = standby_coordinate[2, 0]*temp[2, 0]+standby_coordinate[2, 1]*temp[2, 1]+standby_coordinate[2, 2]*temp[2, 2]+temp[2, 3] path[idx, 3, 0] = standby_coordinate[3, 0]*temp[0, 0]+standby_coordinate[3, 1]*temp[0, 1]+standby_coordinate[3, 2]*temp[0, 2]+temp[0, 3] path[idx, 3, 1] = standby_coordinate[3, 0]*temp[1, 0]+standby_coordinate[3, 1]*temp[1, 1]+standby_coordinate[3, 2]*temp[1, 2]+temp[1, 3] path[idx, 3, 2] = standby_coordinate[3, 0]*temp[2, 0]+standby_coordinate[3, 1]*temp[2, 1]+standby_coordinate[3, 2]*temp[2, 2]+temp[2, 3] path[idx, 4, 0] = standby_coordinate[4, 0]*temp[0, 0]+standby_coordinate[4, 1]*temp[0, 1]+standby_coordinate[4, 2]*temp[0, 2]+temp[0, 3] path[idx, 4, 1] = standby_coordinate[4, 0]*temp[1, 0]+standby_coordinate[4, 1]*temp[1, 1]+standby_coordinate[4, 2]*temp[1, 2]+temp[1, 3] path[idx, 4, 2] = standby_coordinate[4, 0]*temp[2, 0]+standby_coordinate[4, 1]*temp[2, 1]+standby_coordinate[4, 2]*temp[2, 2]+temp[2, 3] path[idx, 5, 0] = standby_coordinate[5, 0]*temp[0, 0]+standby_coordinate[5, 1]*temp[0, 1]+standby_coordinate[5, 2]*temp[0, 2]+temp[0, 3] path[idx, 5, 1] = standby_coordinate[5, 0]*temp[1, 0]+standby_coordinate[5, 1]*temp[1, 1]+standby_coordinate[5, 2]*temp[1, 2]+temp[1, 3] path[idx, 5, 2] = standby_coordinate[5, 0]*temp[2, 0]+standby_coordinate[5, 1]*temp[2, 1]+standby_coordinate[5, 2]*temp[2, 2]+temp[2, 3] return path