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This commit is contained in:
Michel Breyer
2021-09-06 13:36:14 +02:00
parent 6c0a39b175
commit 184b380ea9
4 changed files with 11 additions and 10 deletions
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6
active_grasp/baselines.py
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@@ -16,7 +16,7 @@ class InitialView(SingleViewPolicy):
class TopView(SingleViewPolicy):
def activate(self, bbox):
super().activate(bbox)
eye = np.r_[self.center[:2], self.center[2] + self.min_z_dist]
eye = np.r_[self.center[:2], self.center[2] + 0.3]
up = np.r_[1.0, 0.0, 0.0]
self.x_d = look_at(eye, self.center, up)
@@ -24,7 +24,7 @@ class TopView(SingleViewPolicy):
class TopTrajectory(MultiViewPolicy):
def activate(self, bbox):
super().activate(bbox)
eye = np.r_[self.center[:2], self.center[2] + self.min_z_dist]
eye = np.r_[self.center[:2], self.center[2] + 0.3]
up = np.r_[1.0, 0.0, 0.0]
self.x_d = look_at(eye, self.center, up)
@@ -42,7 +42,7 @@ class CircularTrajectory(MultiViewPolicy):
def __init__(self, rate):
super().__init__(rate)
self.r = 0.12
self.h = self.min_z_dist
self.h = 0.3
self.duration = 2.0 * np.pi * self.r / self.linear_vel
self.m = scipy.interpolate.interp1d([0.0, self.duration], [np.pi, 3.0 * np.pi])