artist.field.kinematics_rigid_body

Classes

RigidBody

Initialize a rigid body kinematics.

Module Contents

class artist.field.kinematics_rigid_body.RigidBody(number_of_heliostats: int, heliostat_positions: torch.Tensor, initial_orientations: torch.Tensor, translation_deviation_parameters: torch.Tensor, 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.kinematics.Kinematics

Initialize a rigid body kinematics.

The rigid body kinematics determines transformation matrices that are applied to the heliostat surfaces in order to align them. The heliostats then reflect the incoming light according to the provided aim points. The rigid body kinematics works for heliostats equipped with two actuators that turn the heliostat surfaces. Furthermore, initial orientation offsets and deviation parameters determine the specific behavior of the kinematics.

The kinematics deviations are split into translation and rotation parameters. There are three translation parameters for each joint and for the concentrator. One translation deviation in the east, north and up direction respectively. For joint one and two there are also rotation deviations. For joint one in the north and up direction and for joint two in the east and north direction.

Parameters

number_of_heliostatsint: The number of heliostats using this rigid body kinematics.
heliostat_positionstorch.Tensor: The positions of all heliostats. Shape is [number_of_heliostats, 4].
initial_orientationstorch.Tensor: The initial orientation offsets of all heliostats. Shape is [number_of_heliostats, 4].
translation_deviation_parameterstorch.Tensor: Kinematics translation deviation parameter. Shape is [number_of_heliostats, 9].
rotation_deviation_parameterstorch.Tensor: Kinematics rotation deviation parameter. 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.

number_of_heliostats

heliostat_positions

initial_orientations

motor_positions

translation_deviation_parameters

rotation_deviation_parameters

number_of_active_heliostats = 0

active_heliostat_positions

active_initial_orientations

active_translation_deviation_parameters

active_rotation_deviation_parameters

active_motor_positions

artist_standard_orientation

actuators

_compute_orientations_from_motor_positions(motor_positions: torch.Tensor, device: torch.device | None = None) → torch.Tensor

Compute orientation matrices from given motor positions without initial orientation offsets.

Parameters

motor_positionstorch.Tensor: The motor positions. Shape is [number_of_active_heliostats, 2].
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.

Returns

torch.Tensor: The orientation matrices. Shape is [number_of_active_heliostats, 4, 4].

_apply_initial_orientation_offsets(orientations: torch.Tensor, device: torch.device | None = None) → torch.Tensor

Apply the initial orientation offsets to the given orientation matrices.

Parameters

orientationstorch.Tensor: The orientation matrices. Shape is [number_of_active_heliostats, 4, 4].
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.

Returns

torch.Tensor: The orientation matrices with the initial orientation offset. Shape is [number_of_active_heliostats, 4, 4].

incident_ray_directions_to_orientations(incident_ray_directions: torch.Tensor, aim_points: torch.Tensor, device: torch.device | None = None, max_num_iterations: int = 2, min_eps: float = 0.0001) → 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].
max_num_iterationsint: Maximum number of iterations (default is 2).
min_epsfloat: Convergence criterion (default is 0.0001).
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.

Returns

torch.Tensor: The orientation matrices. Shape is [number_of_active_heliostats, 4, 4].

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 | 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.

Returns

torch.Tensor: The orientation matrices. Shape is [number_of_active_heliostats, 4, 4].