artist.field.actuators_ideal

Classes

IdealActuators

Initialize ideal actuators.

Module Contents

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

Bases: artist.field.actuators.Actuators

Initialize ideal actuators.

Parameters

non_optimizable_parameterstorch.Tensor

The four non-optimizable actuator parameters, describing actuator geometry. Tensor of shape [number_of_heliostats, 4, 2].

optimizable_parameterstorch.Tensor

The ideal actuators do not have optimizable parameters, this tensor is therefore empty (default is torch.tensor([])). Tensor of shape [].

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.

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.

Returns

torch.Tensor

The joint angles corresponding to the motor positions.

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.

Returns

torch.Tensor

The motor steps. Tensor of shape [number_of_active_heliostats, 2].