artist.field.kinematics

Kinematics modules in ARTIST.

Classes

Kinematics

Initialize the kinematics.

Module Contents

class artist.field.kinematics.Kinematics

Bases: torch.nn.Module

Initialize the kinematics.

The abstract kinematics implements a template for the construction of inheriting kinematics which currently can only be rigid body kinematics. The kinematics is concerned with the mechanics and motion of the heliostats and their actuators. The abstract base class defines two methods to determine orientation matrices, which all kinematics need to overwrite.

abstractmethod incident_ray_directions_to_orientations(incident_ray_directions: torch.Tensor, aim_points: torch.Tensor, device: torch.device | None = None) → torch.Tensor

Compute orientation matrices given incident ray directions.

Parameters

incident_ray_directionstorch.Tensor

The directions of the incident rays as seen from the heliostats. Shape is [number_of_active_heliostats, 4].

aim_pointstorch.Tensor

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

devicetorch.device

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

NotImplementedError

Whenever called (abstract base class method).

abstractmethod motor_positions_to_orientations(motor_positions: torch.Tensor, device: torch.device | None = None) → torch.Tensor

Compute orientation matrices given the motor positions.

Parameters

motor_positionstorch.Tensor

The motor positions. Shape is [number_of_active_heliostats, 2].

devicetorch.device

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

NotImplementedError

Whenever called (abstract base class method).

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

Specify the forward operation of the kinematics, i.e., calculate orientation matrices given the incident ray directions.

Parameters

incident_ray_directionstorch.Tensor

The directions of the incident rays as seen from the heliostats. Shape is [number_of_active_heliostats, 4].

aim_pointstorch.Tensor

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

devicetorch.device

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.

Returns

torch.Tensor

The orientation matrices. Shape is [number_of_active_heliostats, 4, 4].