artist.field.kinematic
======================

.. py:module:: artist.field.kinematic

.. autoapi-nested-parse::

   Kinematic modules in ``ARTIST``.



Classes
-------

.. autoapisummary::

   artist.field.kinematic.Kinematic


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

.. py:class:: Kinematic

   Bases: :py:obj:`torch.nn.Module`


   Initialize the kinematic.

   The abstract kinematic implements a template for the construction of inheriting kinematics which currently
   can only be rigid body kinematics. The kinematic 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.


   .. py:method:: incident_ray_directions_to_orientations(incident_ray_directions: torch.Tensor, aim_points: torch.Tensor, device: Optional[torch.device] = None) -> torch.Tensor
      :abstractmethod:


      Compute orientation matrices given incident ray directions.

      Parameters
      ----------
      incident_ray_directions : torch.Tensor
          The directions of the incident rays as seen from the heliostats.
          Tensor of shape [number_of_active_heliostats, 4].
      aim_points : torch.Tensor
          The aim points for the active heliostats.
          Tensor of shape [number_of_active_heliostats, 4].
      device : Optional[torch.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).



   .. py:method:: motor_positions_to_orientations(motor_positions: torch.Tensor, device: Optional[torch.device] = None) -> torch.Tensor
      :abstractmethod:


      Compute orientation matrices given the motor positions.

      Parameters
      ----------
      motor_positions : torch.Tensor
          The motor positions.
          Tensor of shape [number_of_active_heliostats, 2].
      device : Optional[torch.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).



   .. py:method:: forward(incident_ray_directions: torch.Tensor, aim_points: torch.Tensor, device: Optional[torch.device] = None) -> torch.Tensor

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

      Parameters
      ----------
      incident_ray_directions : torch.Tensor
          The directions of the incident rays as seen from the heliostats.
          Tensor of shape [number_of_active_heliostats, 4].
      aim_points : torch.Tensor
          The aim points for the active heliostats.
          Tensor of shape [number_of_active_heliostats, 4].
      device : Optional[torch.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.
          Tensor of shape [number_of_active_heliostats, 4, 4].