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fix bug for LGTM errors

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Takayuki Murooka
2019-01-27 13:19:42 +09:00
parent 408d6f0d66
commit 2a94346244
1 changed files with 9 additions and 9 deletions
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18
Bipedal/bipedal_planner/bipedal_planner.py
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@@ -37,7 +37,7 @@ class BipedalPlanner(object):
return x, x_dot, y, y_dot
def walk(self, T_sup=0.8, z_c=0.8, a=10, b=1, plot=False):
if self.ref_footsteps == None:
if self.ref_footsteps is None:
print("No footsteps")
return
@@ -124,20 +124,20 @@ class BipedalPlanner(object):
# foot rectangle for self.ref_p
foot_width = 0.06
foot_height = 0.04
for i in range(len(self.ref_p)):
angle = self.ref_p[i][2] + math.atan2(foot_height, foot_width) - math.pi
for j in range(len(self.ref_p)):
angle = self.ref_p[j][2] + math.atan2(foot_height, foot_width) - math.pi
r = math.sqrt(math.pow(foot_width / 3., 2) + math.pow(foot_height / 2., 2))
rec = pat.Rectangle(xy = (self.ref_p[i][0] + r * math.cos(angle), self.ref_p[i][1] + r * math.sin(angle)),
width=foot_width, height=foot_height, angle=self.ref_p[i][2] * 180 / math.pi, color="blue", fill=False, ls=":")
rec = pat.Rectangle(xy = (self.ref_p[j][0] + r * math.cos(angle), self.ref_p[j][1] + r * math.sin(angle)),
width=foot_width, height=foot_height, angle=self.ref_p[j][2] * 180 / math.pi, color="blue", fill=False, ls=":")
ax.add_patch(rec)
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
# foot rectangle for self.act_p
for i in range(len(self.act_p)):
angle = self.act_p[i][2] + math.atan2(foot_height, foot_width) - math.pi
for j in range(len(self.act_p)):
angle = self.act_p[j][2] + math.atan2(foot_height, foot_width) - math.pi
r = math.sqrt(math.pow(foot_width / 3., 2) + math.pow(foot_height / 2., 2))
rec = pat.Rectangle(xy = (self.act_p[i][0] + r * math.cos(angle), self.act_p[i][1] + r * math.sin(angle)),
width=foot_width, height=foot_height, angle=self.act_p[i][2] * 180 / math.pi, color="blue", fill=False)
rec = pat.Rectangle(xy = (self.act_p[j][0] + r * math.cos(angle), self.act_p[j][1] + r * math.sin(angle)),
width=foot_width, height=foot_height, angle=self.act_p[j][2] * 180 / math.pi, color="blue", fill=False)
ax.add_patch(rec)
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")