def convert_ethz():
p = tdg.Path(
load=
'/home/poine/work/oscar.git/oscar/oscar_control/paths/track_ethz_dual_01.npz'
)
p.transform([1.8, 0])
p.save(
'/home/poine/work/oscar.git/oscar/oscar_control/paths/demo_z/track_ethz_cam1.npz'
)
tdg.draw_path(plt.gcf(), plt.gca(), p)
plt.show()
def convert_ethz2():
p = tdg.Path(
load=
'/home/poine/work/oscar.git/oscar/oscar_control/paths/demo_z/track_ethz_cam1_new_orig.npz'
)
p.transform([-0.6, 0])
p.save(
'/home/poine/work/oscar.git/oscar/oscar_control/paths/demo_z/track_ethz_cam1_new.npz'
)
tdg.draw_path(plt.gcf(), plt.gca(), p)
plt.show()
x3 = 2 * r2
circle3 = tdg.make_circle_path([x3, -(r - r2)], r2, 0, np.pi, n_pt=180)
circle4 = tdg.make_circle_path([0, -(r - r2)], -r2, 0, np.pi, n_pt=180)
circle5 = tdg.make_circle_path([-x3, -(r - r2)], r2, 0, np.pi, n_pt=180)
circle6 = tdg.make_circle_path([-x2, -(r - r2)],
-r2,
0,
np.pi / 2,
n_pt=90)
line3 = tdg.make_line_path([-x2, -r], [-x1, -r], n_pt=50)
circle7 = tdg.make_circle_path([-x1, 0], -r, -np.pi / 2, np.pi, n_pt=180)
line4 = tdg.make_line_path([-x2, r], [x0, r], n_pt=50)
line1.append([
circle1, line2, circle2, circle3, circle4, circle5, circle6, line3,
circle7, line4
])
p = line1
fname = os.path.join(_dir, 'track_trr.npz')
p.save(fname)
return fname, p
if __name__ == '__main__':
logging.basicConfig(level=logging.INFO)
np.set_printoptions(linewidth=300, suppress=True)
#fname, p = make_small2_path()
fname, p = make_real_path()
tdg.draw_path(plt.gcf(), plt.gca(), p)
plt.show()
def plot_path(p):
tdg.draw_path(plt.gcf(), plt.gca(), p)
plt.figure()
tdg.draw_path_curvature(plt.gcf(), plt.gca(), p)
plt.show()