genTraj.py
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00001 # Software License Agreement (BSD License) 
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00003 # Copyright (c) 2011, Yaskawa America, Inc.
00004 # All rights reserved.
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00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions are met:
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00009 #       * Redistributions of source code must retain the above copyright
00010 #       notice, this list of conditions and the following disclaimer.
00011 #       * Redistributions in binary form must reproduce the above copyright
00012 #       notice, this list of conditions and the following disclaimer in the
00013 #       documentation and/or other materials provided with the distribution.
00014 #       * Neither the name of the Yaskawa America, Inc., nor the names 
00015 #       of its contributors may be used to endorse or promote products derived
00016 #       from this software without specific prior written permission.
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00018 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00020 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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00025 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00030 
00031 firstPoint = []
00032 firstPoint.append(int(raw_input("Enter starting (S) value ==> ")))
00033 firstPoint.append(int(raw_input("Enter starting (L) value ==> ")))
00034 firstPoint.append(int(raw_input("Enter starting (U) value ==> ")))
00035 firstPoint.append(int(raw_input("Enter starting (R) value ==> ")))
00036 firstPoint.append(int(raw_input("Enter starting (B) value ==> ")))
00037 firstPoint.append(int(raw_input("Enter starting (T) value ==> ")))
00038 firstPoint.append(int(raw_input("Enter starting (E) value ==> ")))
00039 firstPoint.append(int(raw_input("Enter starting (8th axis) value ==> ")))
00040 
00041 inc = []
00042 inc.append(int(raw_input("Enter (S) increment ==> ")))
00043 inc.append(int(raw_input("Enter (L) increment ==> ")))
00044 inc.append(int(raw_input("Enter (U) increment ==> ")))
00045 inc.append(int(raw_input("Enter (R) increment ==> ")))
00046 inc.append(int(raw_input("Enter (B) increment ==> ")))
00047 inc.append(int(raw_input("Enter (T) increment ==> ")))
00048 inc.append(int(raw_input("Enter (E) increment ==> ")))
00049 inc.append(int(raw_input("Enter (8th axis) increment ==> ")))
00050 
00051 numPoints = int(raw_input("Enter number of points ==> "))
00052 
00053 filename = "trajectory.txt"
00054 f = open(filename, 'w')
00055 
00056 for i in range(numPoints):
00057     line = ""
00058     line += "{"
00059     if i == 0:
00060         line += "{"
00061     for j in range(7):
00062         line += str(firstPoint[j]+inc[j]#i)
00063         line += ", "
00064     line += str(firstPoint[7]+inc[7]#i)
00065     if i == (numPoints-1):
00066         line += "}};"
00067     else:
00068         line += "},"
00069     # print line
00070     f.write(line)
00071     if i != (numPoints-1):
00072         f.write("\n")
00073 f.close()
00074 print "Trajectory written to",filename
00075 
00076 
00077 
00078 


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:33