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Changed all files to (mostly) conform to PEP8

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Grant Sanderson
2018-04-06 13:58:59 -07:00
parent 7c272c6236
commit d4392de600
71 changed files with 3736 additions and 3604 deletions
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21
utils/paths.py
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@ -6,6 +6,7 @@ from utils.space_ops import rotation_matrix
STRAIGHT_PATH_THRESHOLD = 0.01
def straight_path(start_points, end_points, alpha):
"""
Same function as interpolate, but renamed to reflect
@ -15,27 +16,31 @@ def straight_path(start_points, end_points, alpha):
"""
return interpolate(start_points, end_points, alpha)
def path_along_arc(arc_angle, axis = OUT):
def path_along_arc(arc_angle, axis=OUT):
"""
If vect is vector from start to end, [vect[:,1], -vect[:,0]] is
If vect is vector from start to end, [vect[:,1], -vect[:,0]] is
perpendicular to vect in the left direction.
"""
if abs(arc_angle) < STRAIGHT_PATH_THRESHOLD:
return straight_path
if np.linalg.norm(axis) == 0:
axis = OUT
unit_axis = axis/np.linalg.norm(axis)
unit_axis = axis / np.linalg.norm(axis)
def path(start_points, end_points, alpha):
vects = end_points - start_points
centers = start_points + 0.5*vects
centers = start_points + 0.5 * vects
if arc_angle != np.pi:
centers += np.cross(unit_axis, vects/2.0)/np.tan(arc_angle/2)
rot_matrix = rotation_matrix(alpha*arc_angle, unit_axis)
return centers + np.dot(start_points-centers, rot_matrix.T)
centers += np.cross(unit_axis, vects / 2.0) / np.tan(arc_angle / 2)
rot_matrix = rotation_matrix(alpha * arc_angle, unit_axis)
return centers + np.dot(start_points - centers, rot_matrix.T)
return path
def clockwise_path():
return path_along_arc(-np.pi)
def counterclockwise_path():
return path_along_arc(np.pi)
return path_along_arc(np.pi)