artist.field.actuators_ideal
============================

.. py:module:: artist.field.actuators_ideal


Classes
-------

.. autoapisummary::

   artist.field.actuators_ideal.IdealActuators


Module Contents
---------------

.. py:class:: IdealActuators(non_optimizable_parameters: torch.Tensor, optimizable_parameters: torch.Tensor = torch.tensor([], requires_grad=True), device: torch.device | None = None)

   Bases: :py:obj:`artist.field.actuators.Actuators`


   Initialize ideal actuators.

   Parameters
   ----------
   non_optimizable_parameters : torch.Tensor
       The four non-optimizable actuator parameters, describing actuator geometry.
       Tensor of shape [number_of_heliostats, 4, 2].
   optimizable_parameters : torch.Tensor
       The ideal actuators do not have optimizable parameters, this tensor is therefore empty (default is torch.tensor([])).
       Tensor of shape [].
   device : torch.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.


   .. py:method:: motor_positions_to_angles(motor_positions: torch.Tensor, device: torch.device | None = None) -> torch.Tensor

      Calculate the joint angles for given motor positions.

      Parameters
      ----------
      motor_positions : torch.Tensor
          The motor positions.
          Tensor of shape [number_of_active_heliostats, 2].
      device : torch.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 joint angles corresponding to the motor positions.



   .. py:method:: angles_to_motor_positions(angles: torch.Tensor, device: torch.device | None = None) -> torch.Tensor

      Calculate the motor positions for given joint angles.

      Parameters
      ----------
      angles : torch.Tensor
          The joint angles.
          Tensor of shape [number_of_active_heliostats, 2].
      device : torch.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 motor steps.
          Tensor of shape [number_of_active_heliostats, 2].