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Python

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
halfsteps = int(g_steps/2)
path = np.zeros((g_steps, 6, 3))
path[:, 0, :] = semicircle2_generator(
g_steps, y_radius, z_radius, x_radius)
path[:, 4, :] = semicircle2_generator(
g_steps, y_radius, z_radius, -x_radius)
mir_rpath = np.roll(path[:, 0, :], halfsteps, axis=0)
path[:, 1, :] = mir_rpath
path[:, 2, :] = path[:, 0, :]
mir_lpath = np.roll(path[:, 4, :], halfsteps, axis=0)
path[:, 3, :] = mir_lpath
path[:, 5, :] = mir_lpath
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
halfsteps = int(g_steps/2)
path = np.zeros((g_steps, 6, 3))
path[:, 0, :] = semicircle2_generator(
g_steps, y_radius, z_radius, x_radius, reverse=True)
path[:, 4, :] = semicircle2_generator(
g_steps, y_radius, z_radius, -x_radius, reverse=True)
mir_rpath = np.roll(path[:, 0, :], halfsteps, axis=0)
path[:, 1, :] = mir_rpath
path[:, 2, :] = path[:, 0, :]
mir_lpath = np.roll(path[:, 4, :], halfsteps, axis=0)
path[:, 3, :] = mir_lpath
path[:, 5, :] = mir_lpath
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 = semicircle_generator(g_radius, g_steps)
mir_path = np.roll(path, halfsteps, axis=0)
leftturn = np.zeros((g_steps, 6, 3))
leftturn[:, 0, :] = np.array(path_rotate_z(path, 45))
leftturn[:, 1, :] = np.array(path_rotate_z(mir_path, 0))
leftturn[:, 2, :] = np.array(path_rotate_z(path, 315))
leftturn[:, 3, :] = np.array(path_rotate_z(mir_path, 225))
leftturn[:, 4, :] = np.array(path_rotate_z(path, 180))
leftturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135))
return leftturn+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)
path = semicircle_generator(g_radius, g_steps)
mir_path = np.roll(path, halfsteps, axis=0)
rightturn = np.zeros((g_steps, 6, 3))
rightturn[:, 0, :] = np.array(path_rotate_z(path, 45+180))
rightturn[:, 1, :] = np.array(path_rotate_z(mir_path, 0+180))
rightturn[:, 2, :] = np.array(path_rotate_z(path, 315+180))
rightturn[:, 3, :] = np.array(path_rotate_z(mir_path, 225+180))
rightturn[:, 4, :] = np.array(path_rotate_z(path, 180+180))
rightturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135+180))
return rightturn+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)
path = semicircle_generator(g_radius, g_steps)
# shift 90 degree to make the path "left" shift
path = path_rotate_z(path, 90)
mir_path = np.roll(path, halfsteps, axis=0)
shiftleft = np.zeros((g_steps, 6, 3))
shiftleft[:, 0, :] = path
shiftleft[:, 1, :] = mir_path
shiftleft[:, 2, :] = path
shiftleft[:, 3, :] = mir_path
shiftleft[:, 4, :] = path
shiftleft[:, 5, :] = mir_path
return shiftleft+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)
path = semicircle_generator(g_radius, g_steps)
# shift 90 degree to make the path "left" shift
path = path_rotate_z(path, 270)
mir_path = np.roll(path, halfsteps, axis=0)
shiftright = np.zeros((g_steps, 6, 3))
shiftright[:, 0, :] = path
shiftright[:, 1, :] = mir_path
shiftright[:, 2, :] = path
shiftright[:, 3, :] = mir_path
shiftright[:, 4, :] = path
shiftright[:, 5, :] = mir_path
return shiftright+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
# rpath = [(x, y, z + z_shift) for x, y,
# z in semicircle2_generator(g_steps, y_radius, z_radius, x_radius)]
lpath = semicircle2_generator(g_steps, y_radius, z_radius, -x_radius)
lpath[:, 2] = lpath[:, 2]+z_shift
# lpath = [(x, y, z + z_shift) for x, y,
# z in semicircle2_generator(g_steps, y_radius, z_radius, -x_radius)]
mir_rpath = np.roll(rpath, halfsteps, axis=0)
mir_lpath = np.roll(lpath, halfsteps, axis=0)
climbpath = np.zeros((g_steps, 6, 3))
climbpath[:, 0, :] = rpath
climbpath[:, 1, :] = mir_rpath
climbpath[:, 2, :] = rpath
climbpath[:, 3, :] = mir_lpath
climbpath[:, 4, :] = lpath
climbpath[:, 5, :] = mir_lpath
return climbpath+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_rotatex_path(standby_coordinate):
# standby_coordinate = np.ones((6,3))
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