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887 lines
59 KiB
Python
887 lines
59 KiB
Python
from lib import semicircle_generator, semicircle2_generator
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from lib import path_rotate_z
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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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from collections import deque
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def gen_forward_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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path = np.zeros((g_steps, 6, 3))
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semi_circle = semicircle_generator(g_radius, g_steps)
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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 path+np.tile(standby_coordinate, (g_steps, 1, 1))
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def gen_backward_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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path = np.zeros((g_steps, 6, 3))
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semi_circle = semicircle_generator(g_radius, g_steps, reverse=True)
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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 path+np.tile(standby_coordinate, (g_steps, 1, 1))
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def gen_fastforward_path(standby_coordinate,
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g_steps=20,
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y_radius=50,
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z_radius=30,
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x_radius=10):
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assert (g_steps % 2) == 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_r = semicircle2_generator(
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g_steps, y_radius, z_radius, x_radius)
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semi_circle_l = semicircle2_generator(
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g_steps, y_radius, z_radius, -x_radius)
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path[:, [0, 2], :] = np.tile(semi_circle_r[:, np.newaxis, :], (1, 2, 1))
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path[:, 1, :] = np.roll(semi_circle_r, halfsteps, axis=0)
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path[:, 4, :] = semi_circle_l
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path[:, [3, 5], :] = np.tile(
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np.roll(semi_circle_l[:, np.newaxis, :], halfsteps, axis=0), (1, 2, 1))
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return path+np.tile(standby_coordinate, (g_steps, 1, 1))
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def gen_fastbackward_path(standby_coordinate,
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g_steps=20,
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y_radius=50,
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z_radius=30,
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x_radius=10):
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assert (g_steps % 2) == 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_r = semicircle2_generator(
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g_steps, y_radius, z_radius, x_radius, reverse=True)
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semi_circle_l = semicircle2_generator(
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g_steps, y_radius, z_radius, -x_radius, reverse=True)
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path[:, [0, 2], :] = np.tile(semi_circle_r[:, np.newaxis, :], (1, 2, 1))
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path[:, 1, :] = np.roll(semi_circle_r, halfsteps, axis=0)
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path[:, 4, :] = semi_circle_l
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path[:, [3, 5], :] = np.tile(
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np.roll(semi_circle_l[:, np.newaxis, :], halfsteps, axis=0), (1, 2, 1))
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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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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)
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mir_path = np.roll(semi_circle, halfsteps, axis=0)
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path[:, 0, :] = path_rotate_z(semi_circle, 45)
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path[:, 1, :] = path_rotate_z(mir_path, 0)
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path[:, 2, :] = path_rotate_z(semi_circle, 315)
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path[:, 3, :] = path_rotate_z(mir_path, 225)
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path[:, 4, :] = path_rotate_z(semi_circle, 180)
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path[:, 5, :] = path_rotate_z(mir_path, 135)
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return path+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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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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semi_circle = semicircle_generator(g_radius, g_steps)
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mir_path = np.roll(semi_circle, halfsteps, axis=0)
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path = np.zeros((g_steps, 6, 3))
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path[:, 0, :] = path_rotate_z(semi_circle, 45+180)
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path[:, 1, :] = path_rotate_z(mir_path, 0+180)
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path[:, 2, :] = path_rotate_z(semi_circle, 315+180)
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path[:, 3, :] = path_rotate_z(mir_path, 225+180)
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path[:, 4, :] = path_rotate_z(semi_circle, 180+180)
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path[:, 5, :] = path_rotate_z(mir_path, 135+180)
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return path+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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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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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, 90))
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mir_path = np.roll(semi_circle, halfsteps, axis=0)
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path = np.zeros((g_steps, 6, 3))
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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(mir_path[:, np.newaxis, :], (1, 3, 1))
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return path+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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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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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, 270))
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mir_path = np.roll(semi_circle, halfsteps, axis=0)
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path = np.zeros((g_steps, 6, 3))
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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(mir_path[:, np.newaxis, :], (1, 3, 1))
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return path+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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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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rpath = semicircle2_generator(g_steps, y_radius, z_radius, x_radius)
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rpath[:, 2] = rpath[:, 2]+z_shift
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lpath = semicircle2_generator(g_steps, y_radius, z_radius, -x_radius)
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lpath[:, 2] = lpath[:, 2]+z_shift
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mir_rpath = np.roll(rpath, halfsteps, axis=0)
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mir_lpath = np.roll(lpath, halfsteps, axis=0)
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path = np.zeros((g_steps, 6, 3))
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path[:, 0, :] = rpath
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path[:, 1, :] = mir_rpath
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path[:, 2, :] = rpath
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path[:, 3, :] = mir_lpath
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path[:, 4, :] = lpath
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path[:, 5, :] = mir_lpath
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return path+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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assert (g_steps % 4) == 0
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quarter = int(g_steps/4)
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path = np.zeros((g_steps, 6, 3))
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result = []
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step_angle = swing_angle / quarter
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step_offset = y_radius / quarter
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for i in range(quarter):
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m = get_rotate_x_matrix(swing_angle - i*step_angle)
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m[1, 3] = -i * step_offset
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path[i, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
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1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
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path[i, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
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1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
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path[i, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
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1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
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path[i, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
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1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
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path[i, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
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1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
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path[i, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
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1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
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path[i, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
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1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
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path[i, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
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1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
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path[i, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
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1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
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path[i, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
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1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
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path[i, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
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1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
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path[i, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
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1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
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path[i, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
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1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
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path[i, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
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1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
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path[i, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
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1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
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path[i, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
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1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
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path[i, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
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1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
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path[i, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
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1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
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result.append(m)
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for i in range(quarter):
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m = get_rotate_x_matrix(-i*step_angle)
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m[1, 3] = -y_radius + i * step_offset
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idx = i+quarter
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path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
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1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
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path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
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1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
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path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
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1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
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path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
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1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
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path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
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1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
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path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
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1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
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path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
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1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
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path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
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1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
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path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
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1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
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path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
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1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
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path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
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1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
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path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
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1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
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path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
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1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
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path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
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1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
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path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
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1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
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path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
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1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
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path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
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1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
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path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
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1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
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result.append(m)
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for i in range(quarter):
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m = get_rotate_x_matrix(i*step_angle-swing_angle)
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m[1, 3] = i * step_offset
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idx = i+quarter*2
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path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
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1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
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path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
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1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
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path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
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1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
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path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
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1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
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path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
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1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
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path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
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1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
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path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
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1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
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path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
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1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
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path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
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1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
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path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
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1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
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path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
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1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
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path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
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1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
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path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
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1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
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path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
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1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
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path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
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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
|