artist.field.heliostat_group_rigid_body

Attributes

log	A logger for the heliostat groups with a rigid body kinematic.

Classes

HeliostatGroupRigidBody

Initialize a heliostat group with a rigid body kinematic and linear or ideal actuator type.

Module Contents

artist.field.heliostat_group_rigid_body.log

A logger for the heliostat groups with a rigid body kinematic.

class artist.field.heliostat_group_rigid_body.HeliostatGroupRigidBody(names: list[str], positions: torch.Tensor, surface_points: torch.Tensor, surface_normals: torch.Tensor, initial_orientations: torch.Tensor, nurbs_control_points: torch.Tensor, nurbs_degrees: torch.Tensor, kinematic_translation_deviation_parameters: torch.Tensor, kinematic_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.heliostat_group.HeliostatGroup

Initialize a heliostat group with a rigid body kinematic and linear or ideal actuator type.

Parameters

nameslist[str]

The string names of each heliostat in the group in order.

positionstorch.Tensor

The positions of all heliostats in the group. Tensor of shape [number_of_heliostats, 4].

surface_pointstorch.Tensor

The surface points of all heliostats in the group. Tensor of shape [number_of_heliostats, number_of_combined_surface_points_all_facets, 4].

surface_normalstorch.Tensor

The surface normals of all heliostats in the group. Tensor of shape [number_of_heliostats, number_of_combined_surface_normals_all_facets, 4].

initial_orientationstorch.Tensor

The initial orientations of all heliostats in the group. Tensor of shape [number_of_heliostats, 4].

nurbs_control_pointstorch.Tensor

The control points for NURBS surfaces for all heliostats in the group. Tensor of shape [number_of_heliostats, number_of_facets_per_heliostat, number_of_control_points_u_direction, number_of_control_points_v_direction 3].

nurbs_degreestorch.Tensor

The spline degrees for NURBS surfaces in u and then in v direction, for all heliostats in the group. Tensor of shape [2].

kinematic_translation_deviation_parameterstorch.Tensor

The kinematic translation deviation parameters of all heliostats in the group. Tensor of shape [number_of_heliostats, 9].

kinematic_rotation_deviation_parameterstorch.Tensor

The kinematic rotation deviation parameters of all heliostats in the group. Tensor of shape [number_of_heliostats, 4].

actuator_parameters_non_optimizabletorch.Tensor

The non-optimizable actuator parameters. Tensor of shape [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. 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.

kinematic

align_surfaces_with_incident_ray_directions(aim_points: torch.Tensor, incident_ray_directions: torch.Tensor, active_heliostats_mask: torch.Tensor, device: torch.device | None = None) → None

Align surface points and surface normals with incident ray directions.

This method uses incident ray directions to align the heliostats. It is possible to have different incident ray directions for different heliostats, for example during calibration tasks. Only active heliostats can be aligned.

Parameters

aim_pointstorch.Tensor

The aim points for all active heliostats. Tensor of shape [number_of_active_heliostats, 4].

incident_ray_directionstorch.Tensor

The incident ray directions. Tensor of shape [number_of_active_heliostats, 4].

active_heliostats_masktorch.Tensor

A mask where 0 indicates a deactivated heliostat and 1 an activated one. An integer greater than 1 indicates that this heliostat is regarded multiple times. Tensor of shape [number_of_heliostats].

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

ValueError

If not all heliostats trying to be aligned have been activated.

align_surfaces_with_motor_positions(motor_positions: torch.Tensor, active_heliostats_mask: torch.Tensor, device: torch.device | None = None) → None

Align surface points and surface normals with motor positions.

Only active heliostats can be aligned.

Parameters

motor_positionstorch.Tensor

The motor positions for all active heliostats. Tensor of shape [number_of_active_heliostats, 2].

active_heliostats_masktorch.Tensor

A mask where 0 indicates a deactivated heliostat and 1 an activated one. An integer greater than 1 indicates that this heliostat is regarded multiple times. Tensor of shape [number_of_heliostats].

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

ValueError

If not all heliostats trying to be aligned have been activated.