artist.field.heliostat_group_rigid_body

Attributes

log	A logger for the heliostat groups with a rigid body kinematics.

Classes

HeliostatGroupRigidBody

Initialize a heliostat group with a rigid body kinematics and linear or ideal actuator type.

Module Contents

artist.field.heliostat_group_rigid_body.log

A logger for the heliostat groups with a rigid body kinematics.

class artist.field.heliostat_group_rigid_body.HeliostatGroupRigidBody(names: list[str], positions: torch.Tensor, surface_points: torch.Tensor, surface_normals: torch.Tensor, canting: torch.Tensor, facet_translations: torch.Tensor, initial_orientations: torch.Tensor, nurbs_control_points: torch.Tensor, nurbs_degrees: torch.Tensor, kinematics_translation_deviation_parameters: torch.Tensor, kinematics_rotation_deviation_parameters: torch.Tensor, actuator_parameters_non_optimizable: torch.Tensor, actuator_parameters_optimizable: torch.Tensor = torch.tensor([]), device: torch.device | None = None)

Bases: artist.field.heliostat_group.HeliostatGroup

Initialize a heliostat group with a rigid body kinematics and linear or ideal actuator type.

Parameters

nameslist[str]

The string names of each heliostat in the group in order.

positionstorch.Tensor

The positions of all heliostats in the group. Shape is [number_of_heliostats, 4].

surface_pointstorch.Tensor

The surface points of all heliostats in the group. Shape is [number_of_heliostats, number_of_combined_surface_points_all_facets, 4].

surface_normalstorch.Tensor

The surface normals of all heliostats in the group. Shape is [number_of_heliostats, number_of_combined_surface_normals_all_facets, 4].

initial_orientationstorch.Tensor

The initial orientations of all heliostats in the group. Shape is [number_of_heliostats, 4].

nurbs_control_pointstorch.Tensor

The control points for NURBS surfaces for all heliostats in the group. Shape is [number_of_heliostats, number_of_facets_per_heliostat, number_of_control_points_u_direction, number_of_control_points_v_direction 3].

nurbs_degreestorch.Tensor

The spline degrees for NURBS surfaces in u and then in v direction, for all heliostats in the group. Shape is [2].

kinematics_translation_deviation_parameterstorch.Tensor

The kinematics translation deviation parameters of all heliostats in the group. Shape is [number_of_heliostats, 9].

kinematics_rotation_deviation_parameterstorch.Tensor

The kinematics rotation deviation parameters of all heliostats in the group. Shape is [number_of_heliostats, 4].

actuator_parameters_non_optimizabletorch.Tensor

The non-optimizable actuator parameters. Shape is [number_of_heliostats, 7, 2] for linear actuators or [number_of_heliostats, 4, 2] for ideal actuators.

actuator_parameters_optimizabletorch.Tensor

The optimizable actuator parameters. Shape is [number_of_heliostats, 2, 2] for linear actuators or [] for ideal actuators (default is torch.tensor([])).

devicetorch.device | None

The device on which to perform computations or load tensors and models (default is None). If None, ARTIST will automatically select the most appropriate device (CUDA or CPU) based on availability and OS.

kinematics

align_surfaces_with_incident_ray_directions(aim_points: torch.Tensor, incident_ray_directions: torch.Tensor, active_heliostats_mask: torch.Tensor, device: torch.device | None = None) → None

Align surface points and surface normals with incident ray directions.

This method uses incident ray directions to align the heliostats. It is possible to have different incident ray directions for different heliostats, for example during calibration tasks. Only active heliostats can be aligned.

Parameters

aim_pointstorch.Tensor

The aim points for all active heliostats. Shape is [number_of_active_heliostats, 4].

incident_ray_directionstorch.Tensor

The incident ray directions. Shape is [number_of_active_heliostats, 4].

active_heliostats_masktorch.Tensor

A mask where 0 indicates a deactivated heliostat and 1 an activated one. An integer greater than 1 indicates that this heliostat is regarded multiple times. Shape is [number_of_heliostats].

devicetorch.device | None

The device on which to perform computations or load tensors and models (default is None). If None, ARTIST will automatically select the most appropriate device (CUDA or CPU) based on availability and OS.

Raises

ValueError

If not all heliostats trying to be aligned have been activated.

align_surfaces_with_motor_positions(motor_positions: torch.Tensor, active_heliostats_mask: torch.Tensor, device: torch.device | None = None) → None

Align surface points and surface normals with motor positions.

Only active heliostats can be aligned.

Parameters

motor_positionstorch.Tensor

The motor positions for all active heliostats. Shape is [number_of_active_heliostats, 2].

active_heliostats_masktorch.Tensor

A mask where 0 indicates a deactivated heliostat and 1 an activated one. An integer greater than 1 indicates that this heliostat is regarded multiple times. Shape is [number_of_heliostats].

devicetorch.device | None

The device on which to perform computations or load tensors and models (default is None). If None, ARTIST will automatically select the most appropriate device (CUDA or CPU) based on availability and OS.

Raises

ValueError

If not all heliostats trying to be aligned have been activated.