| import numpy |
| |
| from graph_tools import * |
| |
| neutral = to_theta_with_circular_index(-0.2, 0.33, circular_index=-1) |
| zero = to_theta_with_circular_index(0.0, 0.0, circular_index=-1) |
| |
| neutral_to_cone_1 = to_theta_with_circular_index(0.0, 0.7, circular_index=-1) |
| neutral_to_cone_2 = to_theta_with_circular_index(0.2, 0.5, circular_index=-1) |
| cone_pos = to_theta_with_circular_index(1.0, 0.4, circular_index=-1) |
| |
| neutral_to_cone_perch_pos_1 = to_theta_with_circular_index(0.4, |
| 1.0, |
| circular_index=-1) |
| neutral_to_cone_perch_pos_2 = to_theta_with_circular_index(0.7, |
| 1.5, |
| circular_index=-1) |
| cone_perch_pos = to_theta_with_circular_index(1.0, 2.0, circular_index=-1) |
| |
| # TODO(Max): Add real paths for arm. |
| points = [(neutral, "NeutralPos"), (neutral_to_cone_1, "NeutralToConePos1"), |
| (neutral_to_cone_2, "NeutralToConePos2"), (cone_pos, "ConePos"), |
| (neutral_to_cone_perch_pos_1, "NeutralToConePerchPos1"), |
| (neutral_to_cone_perch_pos_2, "NeutralToConePerchPos2"), |
| (cone_perch_pos, "ConePerchPos")] |
| front_points = [] |
| back_points = [] |
| unnamed_segments = [] |
| named_segments = [ |
| ThetaSplineSegment(neutral, neutral_to_cone_1, neutral_to_cone_2, cone_pos, |
| "NeutralToCone"), |
| ThetaSplineSegment(neutral, neutral_to_cone_perch_pos_1, |
| neutral_to_cone_perch_pos_2, cone_perch_pos, |
| "NeutralToConePerch"), |
| ] |
| |
| segments = unnamed_segments + named_segments |