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working trajectory generation with ift in shapepath

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zamofing_t
2019-01-14 15:58:35 +01:00
parent ebfa99d27c
commit 5aacb85c8d
2 changed files with 134 additions and 25 deletions
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6
python/trajectory.py
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@@ -74,9 +74,9 @@ t = np.arange(0, w*(k+1), w) #time array of trajectory
#p=3.*np.cos(t)+4. #position array of trajectory
#p=3.*np.sin(1.3+2.*t/(w*k)*2.*np.pi)+10.
#p+=np.cos(1.5*t/(w*k)*2.*np.pi)
p=np.cos(8*t*np.pi*2./(k*w)) #eine schwingung
#np.random.seed(10)
#p=np.random.random(k+1)*4. #position array of trajectory
#p=np.cos(8*t*np.pi*2./(k*w)) #eine schwingung
np.random.seed(10)
p=np.random.random(k+1)*4. #position array of trajectory
p[-1]=p[0] # put the first position at the end