artist.field.actuators

Classes

Actuators

Initialize abstract actuators.

Module Contents

class artist.field.actuators.Actuators(non_optimizable_parameters: torch.Tensor, optimizable_parameters: torch.Tensor = torch.tensor([], requires_grad=True), device: torch.device | None = None)

Bases: torch.nn.Module

Initialize abstract actuators.

The abstract actuator implements a template for the construction of inheriting actuators. An actuator is responsible for turning the heliostat surface in such a way that the heliostat reflects the incoming light onto the aim point on the tower. The abstract actuator specifies the functionality that must be implemented in the inheriting classes. These include one function to map the motor steps to angles and another one for the opposite conversion of angles to motor steps.

Parameters

non_optimizable_parameterstorch.Tensor: The non-optimizable actuator parameters, describing actuator geometry. Tensor of shape [number_of_heliostats, 7, 2] for linear actuators or [number_of_heliostats, 4, 2] for ideal actuators.
optimizable_parameterstorch.Tensor: The two optimizable actuator parameters, describing the initial actuator configuration. Tensor of shape [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.

non_optimizable_parameters

optimizable_parameters

active_non_optimizable_parameters

active_optimizable_parameters

abstractmethod 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_positionstorch.Tensor: The motor positions. Tensor of shape [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.

Raises

NotImplementedError: This abstract method must be overridden.

abstractmethod angles_to_motor_positions(angles: torch.Tensor, device: torch.device | None = None) → torch.Tensor

Calculate the motor positions for given joint angles.

Parameters

anglestorch.Tensor: The joint angles. Tensor of shape [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.

Raises

NotImplementedError: This abstract method must be overridden.

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

Specify the forward operation of the actuator, i.e., calculate the angles for given the motor positions.

Parameters

motor_positionstorch.Tensor: The motor positions to be converted to joint angles. Tensor of shape [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 joint angles. Tensor of shape [number_of_active_heliostats, 2].