Loading .gitignore +1 −1 Original line number Diff line number Diff line *.pyc *__python__* *__pycache__* CHANGELOG +1 −0 Original line number Diff line number Diff line 2021 dec 01 - Repo created 2021 dec 02 - Uploaded PyPRM 0.0 2021 dec 03 - Added example PyPRM/README.md +1 −1 Original line number Diff line number Diff line Loading @@ -3,4 +3,4 @@ PRM python version M.Maris 2021 Oct 23 2021 Nov 20 2021 Dec 2 PyPRM/__init__.py +111 −268 Original line number Diff line number Diff line """ __VERSION__="0.0.3 - 2021 Dec 02" __DESCRIPTION__=""" M.Maris first version of order 0 Pointing Reconstruction Model (PRM) Loading Loading @@ -51,206 +53,12 @@ with c=cos(alpha), s=sin(alpha) Issue 0.0.0 - 2021 Oct 23 : First implementation 0.0.1 - 2021 Nov 20 : Definition of matrices in agreement with STRIP PRM Doc 0.0.2 - 2021 Nov 22 : Improved defintion of matrices 0.0.2 - 2021 Nov 22 : Improved definition of matrices 0.0.3 - 2021 Dec 2 : Structure improved, added example """ import numpy as np class listMatrix3x3 : @property def M(self) : return self._m @M.setter def M(self,this) : self._m=this self._dtype=this.dtype @property def shape(self) : return self._m.shape @shape.setter def shape(self,this) : self._m.shape=this @property def size(self) : return self._m.size @property def isSingle(self) : return len(self.size)==3 # def __init__(self,*arg,dtype=float,value=0) : self._dtype=dtype if len(arg)==0 : self._m=np.array([]) else : if np.isscalar(arg[0]) : self._m=self.zeros(arg[0],dtype)+value else : self._m=np.array(arg[0]) # def __len__(self) : return self._m.shape[0] # def __getitem__(self,this) : return self._m[this] # def __setitem__(self,this,that) : self._m[this]=that # def zeros(self,size,dtype) : return np.zeros([size,3,3],dtype=dtype) # def __clear__(self) : self._m=None # def __str__(self) : return self._m.__str__() # def dot(self,this) : if np.isscalar(this) : out=self.__class__(self._m.dot(this)) return out out=[] for k2 in self._m : for k1 in this : out.append(k2.dot(k1)) return self.__class__(out) # def apply_to(self,this_lm) : if len(this_lm)==len(self) : out=listMatrix3x3(len(self)) for ik in range(len(self)) : out[ik]=self[ik].dot(this_lm[ik]) return out elif len(this_lm)==1 and len(self)>1 : out=listMatrix3x3(len(this_lm)) for ik in range(len(this_lm)) : out[ik]=self[0].dot(this_lm[ik]) return out elif len(this_lm)>1 and len(self)==1 : out=listMatrix3x3(len(self)) for ik in range(len(self)) : out[ik]=self[ik].dot(this_lm[0]) return out else : raise Exception("error: uncompatible dimesions between arrays","") ## #def __mul__(self,this) : #if np.isscalar(this) : #out=self.__class__(this*self._m) #return out ## ##if self.__class__==this.__class__: ##out=[] ##for k2 in self._m : ##for k1 in this.M : ##out.append(k2.dot(k1)) ##return self.__class__(out) ### ##ooo=str(self.__class__).split('.')[-1].split("'")[0] ##raise Exception("error: a "+ooo+" object can be multiplied by a scalar or another "+ooo+" object ","") ## ##if this.__class__==self._m.__class__: ##print("__mul__ 1") ##out=self.__class__([k.dot(this) for k in self._m]) ##return out ## #def __rmul__(self,this) : #if np.isscalar(this) : #return self.__class__(this*self._m) ### ##if self.__class__==this.__class__: ##out=[] ##for k1 in this.M : ##for k2 in self._m : ##out.append(k2.dot(k1)) ##return self.__class__(out) ### ##ooo=str(self.__class__).split('.')[-1].split("'")[0] ##raise Exception("error: a "+ooo+" object can be multiplied by a scalar or another "+ooo+" object ","") ## ##if this.__class__==self._m.__class__: ##out=self.__class__([this.dot(k) for k in self._m]) ##return out # def copy(self) : import copy return copy.deepcopy(self) def slice(self,*arg) : i1=arg[0] if len(arg)==2 : i2=arg[1] else : i2=i1+1 out=listMatrix3x3() out._m=self._m[i1:i2] return out #m=np.array([[1,0,0],[1,1,0],[1,1,1]]) #lm1=listMatrix3x3([m]) #lm=listMatrix3x3([k*m for k in range(1,100)]) class ElemRot(listMatrix3x3) : @property def axis(self) : return self._axis @property def angle(self) : return self._angle @angle.setter def angle(self,this) : self._angle=np.array([this]) if np.isscalar(this) else this self._c=np.cos(self._angle) self._s=np.sin(self._angle) self._m=self.zeros(len(self._angle),float) self._m[:,0,0]=1 self._m[:,1,1]=1 self._m[:,2,2]=1 # if self.axis=='x' : self._m[:,1,1]=self._c self._m[:,1,2]=-self._s self._m[:,2,1]=self._s self._m[:,2,2]=self._c elif self.axis=='y' : self._m[:,0,0]=self._c self._m[:,0,2]=self._s self._m[:,2,0]=-self._s self._m[:,2,2]=self._c elif self.axis=='z' : self._m[:,0,0]=self._c self._m[:,0,1]=-self._s self._m[:,1,0]=self._s self._m[:,1,1]=self._c else : raise Exception("error: undefined rotation axis","") def __init__(self,axis,Angle,deg=True) : listMatrix3x3.__init__(self) self._axis=None self._angle=None if axis==0 or str(axis).lower()=='x' : self._axis='x' elif axis==1 or str(axis).lower()=='y' : self._axis='y' elif axis==2 or str(axis).lower()=='z' : self._axis='z' elif type(axis)==type("") : self._axis=str(axis) else : raise Exception("error: undefined rotation axis","") if not Angle is None : if deg : self.angle=np.deg2rad(Angle) else : self.angle=Angle #erot=ElemRot('x',None) #erot1=ElemRot('x',np.arange(0,10)) #m=np.array([[1,0,0],[1,1,0],[1,1,1]]) #lm1=listMatrix3x3([m]) #lm=listMatrix3x3([k*m for k in range(1,100)]) #stop class PRM0 : @property def roll(self) : Loading @@ -259,7 +67,7 @@ class PRM0 : def roll(self,this) : self._d['roll']=this self._mark['roll']=1 self._matr['roll']=self.MatrZ(np.deg2rad(np.array([this]))) self._matr['roll']=self.ERotZ(np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -269,7 +77,7 @@ class PRM0 : def pan(self,this) : self._d['pan']=this self._mark['pan']=1 self._matr['pan']=self.MatrY(np.deg2rad(np.array([this]))) self._matr['pan']=self.ERotY(np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -279,7 +87,7 @@ class PRM0 : def tilt(self,this) : self._d['tilt']=this self._mark['tilt']=1 self._matr['tilt']=self.MatrX(np.deg2rad(np.array([this]))) self._matr['tilt']=self.ERotX(np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -289,7 +97,7 @@ class PRM0 : def ctheta0(self,this) : self._d['ctheta0']=this self._mark['ctheta0']=1 self._matr['ctheta0']=self.MatrY(-np.deg2rad(np.array([this]))) self._matr['ctheta0']=self.ERotY(-np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -299,7 +107,7 @@ class PRM0 : def cphi0(self,this) : self._d['cphi0']=this self._mark['cphi0']=1 self._matr['cphi0']=self.MatrZ(-np.deg2rad(np.array([this]))) self._matr['cphi0']=self.ERotZ(-np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -309,27 +117,27 @@ class PRM0 : def tiltFork(self,this) : self._d['tiltFork']=this self._mark['tiltFork']=1 self._matr['tiltFork']=self.MatrX(np.deg2rad(np.array([this]))) self._matr['tiltFork']=self.ERotX(np.deg2rad(np.array([this]))) self._isComplete=False # @property def zVax(self) : return self._d['zVax'] @zVax.setter def zVax(self,this) : self._d['zVax']=this self._mark['zVax']=1 self._matr['zVax']=self.MatrX(np.deg2rad(np.array([this]))) def zVAX(self) : return self._d['zVAX'] @zVAX.setter def zVAX(self,this) : self._d['zVAX']=this self._mark['zVAX']=1 self._matr['zVAX']=self.ERotX(np.deg2rad(np.array([this]))) self._isComplete=False # @property def omegaVax(self) : return self._d['omegaVax'] @omegaVax.setter def omegaVax(self,this) : self._d['omegaVax']=this self._mark['omegaVax']=1 self._matr['omegaVax']=self.MatrZ(np.deg2rad(np.array([this]))) def omegaVAX(self) : return self._d['omegaVAX'] @omegaVAX.setter def omegaVAX(self,this) : self._d['omegaVAX']=this self._mark['omegaVAX']=1 self._matr['omegaVAX']=self.ERotZ(np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -343,19 +151,6 @@ class PRM0 : return False return True # def keys(self) : return ['roll','pan','tilt','ctheta0','cphi0','tiltFork','zVax','omegaVax'] # def __getitem__(self,this) : return self._d[this] # def __setitem__(self,this,that) : self._d[this]=that # def copy(self) : import copy return copy.deepcopy(self) # def __init__(self,ideal=False) : self._isComplete=False self._d={} Loading @@ -370,30 +165,88 @@ class PRM0 : if ideal : self.setIdeal() # def keys(self) : return ['roll','pan','tilt','ctheta0','cphi0','tiltFork','zVAX','omegaVAX'] # def __getitem__(self,this) : return self._d[this] # def __setitem__(self,this,that) : self._d[this]=that # def M(self,k) : return self._matr[k] # def copy(self) : import copy return copy.deepcopy(self) # def _base_matrix(self,Angle) : _angle=np.array([Angle]) if np.isscalar(Angle) else Angle c=np.cos(_angle) s=np.sin(_angle) I=np.zeros([len(_angle),3,3]) I[:,0,0]=1 I[:,1,1]=1 I[:,2,2]=1 return I,c,s # def ERotX(self,Angle) : R,c,s=self._base_matrix(Angle) R[:,1,1]= c R[:,1,2]=-s R[:,2,1]= s R[:,2,2]= c return R # def ERotY(self,Angle) : R,c,s=self._base_matrix(Angle) R[:,0,0]= c R[:,0,2]= s R[:,2,0]=-s R[:,2,2]= c return R # def ERotZ(self,Angle) : R,c,s=self._base_matrix(Angle) R[:,0,0]= c R[:,0,1]=-s R[:,1,0]= s R[:,1,1]= c return R # def setIdeal(self) : self.roll=0. self.pan=0. self.tilt=0. self.tiltFork=0. self.zVax=0. self.omegaVax=0. self.zVAX=0. self.omegaVAX=0. self.cphi0=0. self.ctheta0=0. self.commit() # def commit(self) : if self.isAllSet : out=self._matr['pan'].apply_to(self._matr['roll']) out=self._matr['tilt'].apply_to(out) self._matr['M1']=self._matr['ctheta0'].apply_to(out) self._matr['M2']=self._matr['cphi0'].apply_to(self._matr['tiltFork']) self._matr['M3']=self._matr['omegaVax'].apply_to(self._matr['zVax']) out=self._matr['tilt'][0].dot(self._matr['pan'][0].dot(self._matr['roll'][0])) out=self._matr['ctheta0'][0].dot(out) out.shape=(1,3,3) self._matr['M1']=out*1 # out=self._matr['cphi0'][0].dot(self._matr['tiltFork'][0]) out.shape=(1,3,3) self._matr['M2']=out*1 # out=self._matr['omegaVAX'][0].dot(self._matr['zVAX'][0]) out.shape=(1,3,3) self._matr['M3']=out*1 # self._isComplete=True else : self._isComplete=False raise Error('Not configuration not completed','') raise Error('Configuration not completed','') # def __call__(self,CTHETA_PHI,axis0isNPOS=False) : def __call__(self,CTHETA_PHI) : """ Apply rotations for a list of NPOS control angles: (CTR_THETA, CTR_PHI) Loading Loading @@ -441,39 +294,29 @@ while PMatrB[0] is the rotation matrix for the case (45.,0.) and PMatrB[:,2] is """ if not self.isComplete : raise Error('Configuration not completed or not committed','') self._d['CTHETA_PHI']=CTHETA_PHI # self._matr['CTRL_THETA']=self.MatrY(np.deg2rad(CTHETA_PHI[:,0])) self._matr['CTRL_PHI']=self.MatrZ(np.deg2rad(CTHETA_PHI[:,1])) self._d['CTHETA_PHI']=CTHETA_PHI # out=self._matr['CTRL_THETA'].apply_to(self._matr['M1']) out=self._matr['M2'].apply_to(out) out=self._matr['CTRL_PHI'].apply_to(out) out=self._matr['M3'].apply_to(out) # theta rotation self._matr['CTRL_THETA']=self.ERotY(np.deg2rad(CTHETA_PHI[:,0])) # #stores Rout self._matr['Rout']=out # phi rotation self._matr['CTRL_PHI']=self.ERotZ(np.deg2rad(CTHETA_PHI[:,1])) # #set output has NPOS,3,3 shape if required #if axis0isNPOS==True : #out=np.moveaxis(out,0,2) # apply each theta rotation to M1 out=[k.dot(self._matr['M1'][0]) for k in self._matr['CTRL_THETA']] # return out # apply M2 to each out out1=[self._matr['M2'][0].dot(k) for k in out] # def MatrX(self,Angle,deg=True) : return ElemRot('x',Angle,deg=deg) # apply phi rotation to each out2 out2=[self._matr['CTRL_PHI'][ik].dot(k) for ik, k in enumerate(out1)] # def MatrY(self,angle) : return ElemRot('y',Angle,deg=deg) # apply M3 to each out3 out3=np.array([self._matr['M3'][0].dot(k) for k in out2]) # def MatrZ(self,angle) : return ElemRot('z',Angle,deg=deg) #stores Rout self._matr['Rout']=out3 # def rmult(self,this,that) : out=np.zeros([3,3,max(this.shape[2],that.shape[2])]) for i in range(3) : for j in range(3) : for l in range(3) : out[i,j]+=this[i,l]*that[l,j] return out return out3 PyPRM/example/example.py 0 → 100644 +128 −0 Original line number Diff line number Diff line # # example of use of pyPRM # from PyPRM import * from collections import OrderedDict from matplotlib import pyplot as plt # class to create standardized plots class stereographic : def __init__(self,figsize=[12,12]) : self._uxyz=None self.h=None def project(self,xyz) : theta=np.arctan2(xyz[:,1],xyz[:,0]) radius=np.arccos(xyz[:,2]) return theta,radius @property def uxyz(self) : return self._uxyz @uxyz.setter def uxyz(self,this) : self._uxyz=this def uplot(self) : x=np.arange(10)/10. self.h=plt.polar(x*2*pi/10,x*0+1.2) self.h[0].set_visible(False) for k in self.uxyz : _utheta,_uradius=self.project(k) plt.polar(_utheta,_uradius,color='gray') def plot(self,xyz,**karg) : theta,radius=self.project(xyz) plt.polar(theta[0],radius[0],'o',markersize=8,color='gray') plt.polar(theta,radius,**karg) plt.show() # # list of Theta,Phi positions CT_P=np.array([ [0.,0.] ,[30.,0.] ,[60.,0.] ,[30.,90.] ,[30.,180.] ,[30.,270.] ]) # the first case, an ideal telescope pm0I=PRM0(ideal=True) R=OrderedDict() R['Ideal']=pm0I(CT_P) # camera roll pm0roll=PRM0(ideal=True) pm0roll.roll=45 pm0roll.commit() R['roll']=pm0roll(CT_P) # camera pan pm0pan=PRM0(ideal=True) pm0pan.pan=10 pm0pan.commit() R['pan']=pm0pan(CT_P) # camera tilt pm0tilt=PRM0(ideal=True) pm0tilt.tilt=10 pm0tilt.commit() R['tilt']=pm0tilt(CT_P) # tiltFork pm0tiltFork=PRM0(ideal=True) pm0tiltFork.tiltFork=10 pm0tiltFork.commit() R['tiltFork']=pm0tiltFork(CT_P) # ctheta0 pm0ctheta0=PRM0(ideal=True) pm0ctheta0.ctheta0=10 pm0ctheta0.commit() R['ctheta0']=pm0ctheta0(CT_P) # cphi0 pm0cphi0=PRM0(ideal=True) pm0cphi0.cphi0=10 pm0cphi0.commit() R['cphi0']=pm0cphi0(CT_P) # zVAX pm0zVAX=PRM0(ideal=True) pm0zVAX.zVAX=10 pm0zVAX.commit() R['zVAX']=pm0zVAX(CT_P) # omegaVAX pm0omegaVAX=PRM0(ideal=True) pm0omegaVAX.omegaVAX=10 pm0omegaVAX.commit() R['omegaVAX']=pm0omegaVAX(CT_P) # # rotates a 4 points fow # FOW trace w=6; sw = np.sin(np.deg2rad(w)) h=2; sh = np.sin(np.deg2rad(h)) z=(1-sw**2-sh**2)**0.5 V=np.array([ [ sw, sh, z] ,[ sw,-sh, z] ,[-sw,-sh, z] ,[-sw, sh, z] ,[ sw, sh, z] ]) plt.close('all') # std=stereographic() std.uxyz=[np.array([k.dot(k1) for k1 in V]) for k in R['Ideal']] # for karg in ['Ideal','roll','pan','tilt','tiltFork','ctheta0','cphi0','zVAX','omegaVAX'] : plt.figure(figsize=[8,8]) std.uplot() for k in R[karg] : Vr=np.array([k.dot(k1) for k1 in V]) std.plot(Vr) plt.title(karg) plt.savefig('/tmp/polar_%s.pdf'%karg,dpi=plt.gcf().get_dpi()) plt.show() Loading
CHANGELOG +1 −0 Original line number Diff line number Diff line 2021 dec 01 - Repo created 2021 dec 02 - Uploaded PyPRM 0.0 2021 dec 03 - Added example
PyPRM/README.md +1 −1 Original line number Diff line number Diff line Loading @@ -3,4 +3,4 @@ PRM python version M.Maris 2021 Oct 23 2021 Nov 20 2021 Dec 2
PyPRM/__init__.py +111 −268 Original line number Diff line number Diff line """ __VERSION__="0.0.3 - 2021 Dec 02" __DESCRIPTION__=""" M.Maris first version of order 0 Pointing Reconstruction Model (PRM) Loading Loading @@ -51,206 +53,12 @@ with c=cos(alpha), s=sin(alpha) Issue 0.0.0 - 2021 Oct 23 : First implementation 0.0.1 - 2021 Nov 20 : Definition of matrices in agreement with STRIP PRM Doc 0.0.2 - 2021 Nov 22 : Improved defintion of matrices 0.0.2 - 2021 Nov 22 : Improved definition of matrices 0.0.3 - 2021 Dec 2 : Structure improved, added example """ import numpy as np class listMatrix3x3 : @property def M(self) : return self._m @M.setter def M(self,this) : self._m=this self._dtype=this.dtype @property def shape(self) : return self._m.shape @shape.setter def shape(self,this) : self._m.shape=this @property def size(self) : return self._m.size @property def isSingle(self) : return len(self.size)==3 # def __init__(self,*arg,dtype=float,value=0) : self._dtype=dtype if len(arg)==0 : self._m=np.array([]) else : if np.isscalar(arg[0]) : self._m=self.zeros(arg[0],dtype)+value else : self._m=np.array(arg[0]) # def __len__(self) : return self._m.shape[0] # def __getitem__(self,this) : return self._m[this] # def __setitem__(self,this,that) : self._m[this]=that # def zeros(self,size,dtype) : return np.zeros([size,3,3],dtype=dtype) # def __clear__(self) : self._m=None # def __str__(self) : return self._m.__str__() # def dot(self,this) : if np.isscalar(this) : out=self.__class__(self._m.dot(this)) return out out=[] for k2 in self._m : for k1 in this : out.append(k2.dot(k1)) return self.__class__(out) # def apply_to(self,this_lm) : if len(this_lm)==len(self) : out=listMatrix3x3(len(self)) for ik in range(len(self)) : out[ik]=self[ik].dot(this_lm[ik]) return out elif len(this_lm)==1 and len(self)>1 : out=listMatrix3x3(len(this_lm)) for ik in range(len(this_lm)) : out[ik]=self[0].dot(this_lm[ik]) return out elif len(this_lm)>1 and len(self)==1 : out=listMatrix3x3(len(self)) for ik in range(len(self)) : out[ik]=self[ik].dot(this_lm[0]) return out else : raise Exception("error: uncompatible dimesions between arrays","") ## #def __mul__(self,this) : #if np.isscalar(this) : #out=self.__class__(this*self._m) #return out ## ##if self.__class__==this.__class__: ##out=[] ##for k2 in self._m : ##for k1 in this.M : ##out.append(k2.dot(k1)) ##return self.__class__(out) ### ##ooo=str(self.__class__).split('.')[-1].split("'")[0] ##raise Exception("error: a "+ooo+" object can be multiplied by a scalar or another "+ooo+" object ","") ## ##if this.__class__==self._m.__class__: ##print("__mul__ 1") ##out=self.__class__([k.dot(this) for k in self._m]) ##return out ## #def __rmul__(self,this) : #if np.isscalar(this) : #return self.__class__(this*self._m) ### ##if self.__class__==this.__class__: ##out=[] ##for k1 in this.M : ##for k2 in self._m : ##out.append(k2.dot(k1)) ##return self.__class__(out) ### ##ooo=str(self.__class__).split('.')[-1].split("'")[0] ##raise Exception("error: a "+ooo+" object can be multiplied by a scalar or another "+ooo+" object ","") ## ##if this.__class__==self._m.__class__: ##out=self.__class__([this.dot(k) for k in self._m]) ##return out # def copy(self) : import copy return copy.deepcopy(self) def slice(self,*arg) : i1=arg[0] if len(arg)==2 : i2=arg[1] else : i2=i1+1 out=listMatrix3x3() out._m=self._m[i1:i2] return out #m=np.array([[1,0,0],[1,1,0],[1,1,1]]) #lm1=listMatrix3x3([m]) #lm=listMatrix3x3([k*m for k in range(1,100)]) class ElemRot(listMatrix3x3) : @property def axis(self) : return self._axis @property def angle(self) : return self._angle @angle.setter def angle(self,this) : self._angle=np.array([this]) if np.isscalar(this) else this self._c=np.cos(self._angle) self._s=np.sin(self._angle) self._m=self.zeros(len(self._angle),float) self._m[:,0,0]=1 self._m[:,1,1]=1 self._m[:,2,2]=1 # if self.axis=='x' : self._m[:,1,1]=self._c self._m[:,1,2]=-self._s self._m[:,2,1]=self._s self._m[:,2,2]=self._c elif self.axis=='y' : self._m[:,0,0]=self._c self._m[:,0,2]=self._s self._m[:,2,0]=-self._s self._m[:,2,2]=self._c elif self.axis=='z' : self._m[:,0,0]=self._c self._m[:,0,1]=-self._s self._m[:,1,0]=self._s self._m[:,1,1]=self._c else : raise Exception("error: undefined rotation axis","") def __init__(self,axis,Angle,deg=True) : listMatrix3x3.__init__(self) self._axis=None self._angle=None if axis==0 or str(axis).lower()=='x' : self._axis='x' elif axis==1 or str(axis).lower()=='y' : self._axis='y' elif axis==2 or str(axis).lower()=='z' : self._axis='z' elif type(axis)==type("") : self._axis=str(axis) else : raise Exception("error: undefined rotation axis","") if not Angle is None : if deg : self.angle=np.deg2rad(Angle) else : self.angle=Angle #erot=ElemRot('x',None) #erot1=ElemRot('x',np.arange(0,10)) #m=np.array([[1,0,0],[1,1,0],[1,1,1]]) #lm1=listMatrix3x3([m]) #lm=listMatrix3x3([k*m for k in range(1,100)]) #stop class PRM0 : @property def roll(self) : Loading @@ -259,7 +67,7 @@ class PRM0 : def roll(self,this) : self._d['roll']=this self._mark['roll']=1 self._matr['roll']=self.MatrZ(np.deg2rad(np.array([this]))) self._matr['roll']=self.ERotZ(np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -269,7 +77,7 @@ class PRM0 : def pan(self,this) : self._d['pan']=this self._mark['pan']=1 self._matr['pan']=self.MatrY(np.deg2rad(np.array([this]))) self._matr['pan']=self.ERotY(np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -279,7 +87,7 @@ class PRM0 : def tilt(self,this) : self._d['tilt']=this self._mark['tilt']=1 self._matr['tilt']=self.MatrX(np.deg2rad(np.array([this]))) self._matr['tilt']=self.ERotX(np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -289,7 +97,7 @@ class PRM0 : def ctheta0(self,this) : self._d['ctheta0']=this self._mark['ctheta0']=1 self._matr['ctheta0']=self.MatrY(-np.deg2rad(np.array([this]))) self._matr['ctheta0']=self.ERotY(-np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -299,7 +107,7 @@ class PRM0 : def cphi0(self,this) : self._d['cphi0']=this self._mark['cphi0']=1 self._matr['cphi0']=self.MatrZ(-np.deg2rad(np.array([this]))) self._matr['cphi0']=self.ERotZ(-np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -309,27 +117,27 @@ class PRM0 : def tiltFork(self,this) : self._d['tiltFork']=this self._mark['tiltFork']=1 self._matr['tiltFork']=self.MatrX(np.deg2rad(np.array([this]))) self._matr['tiltFork']=self.ERotX(np.deg2rad(np.array([this]))) self._isComplete=False # @property def zVax(self) : return self._d['zVax'] @zVax.setter def zVax(self,this) : self._d['zVax']=this self._mark['zVax']=1 self._matr['zVax']=self.MatrX(np.deg2rad(np.array([this]))) def zVAX(self) : return self._d['zVAX'] @zVAX.setter def zVAX(self,this) : self._d['zVAX']=this self._mark['zVAX']=1 self._matr['zVAX']=self.ERotX(np.deg2rad(np.array([this]))) self._isComplete=False # @property def omegaVax(self) : return self._d['omegaVax'] @omegaVax.setter def omegaVax(self,this) : self._d['omegaVax']=this self._mark['omegaVax']=1 self._matr['omegaVax']=self.MatrZ(np.deg2rad(np.array([this]))) def omegaVAX(self) : return self._d['omegaVAX'] @omegaVAX.setter def omegaVAX(self,this) : self._d['omegaVAX']=this self._mark['omegaVAX']=1 self._matr['omegaVAX']=self.ERotZ(np.deg2rad(np.array([this]))) self._isComplete=False # @property Loading @@ -343,19 +151,6 @@ class PRM0 : return False return True # def keys(self) : return ['roll','pan','tilt','ctheta0','cphi0','tiltFork','zVax','omegaVax'] # def __getitem__(self,this) : return self._d[this] # def __setitem__(self,this,that) : self._d[this]=that # def copy(self) : import copy return copy.deepcopy(self) # def __init__(self,ideal=False) : self._isComplete=False self._d={} Loading @@ -370,30 +165,88 @@ class PRM0 : if ideal : self.setIdeal() # def keys(self) : return ['roll','pan','tilt','ctheta0','cphi0','tiltFork','zVAX','omegaVAX'] # def __getitem__(self,this) : return self._d[this] # def __setitem__(self,this,that) : self._d[this]=that # def M(self,k) : return self._matr[k] # def copy(self) : import copy return copy.deepcopy(self) # def _base_matrix(self,Angle) : _angle=np.array([Angle]) if np.isscalar(Angle) else Angle c=np.cos(_angle) s=np.sin(_angle) I=np.zeros([len(_angle),3,3]) I[:,0,0]=1 I[:,1,1]=1 I[:,2,2]=1 return I,c,s # def ERotX(self,Angle) : R,c,s=self._base_matrix(Angle) R[:,1,1]= c R[:,1,2]=-s R[:,2,1]= s R[:,2,2]= c return R # def ERotY(self,Angle) : R,c,s=self._base_matrix(Angle) R[:,0,0]= c R[:,0,2]= s R[:,2,0]=-s R[:,2,2]= c return R # def ERotZ(self,Angle) : R,c,s=self._base_matrix(Angle) R[:,0,0]= c R[:,0,1]=-s R[:,1,0]= s R[:,1,1]= c return R # def setIdeal(self) : self.roll=0. self.pan=0. self.tilt=0. self.tiltFork=0. self.zVax=0. self.omegaVax=0. self.zVAX=0. self.omegaVAX=0. self.cphi0=0. self.ctheta0=0. self.commit() # def commit(self) : if self.isAllSet : out=self._matr['pan'].apply_to(self._matr['roll']) out=self._matr['tilt'].apply_to(out) self._matr['M1']=self._matr['ctheta0'].apply_to(out) self._matr['M2']=self._matr['cphi0'].apply_to(self._matr['tiltFork']) self._matr['M3']=self._matr['omegaVax'].apply_to(self._matr['zVax']) out=self._matr['tilt'][0].dot(self._matr['pan'][0].dot(self._matr['roll'][0])) out=self._matr['ctheta0'][0].dot(out) out.shape=(1,3,3) self._matr['M1']=out*1 # out=self._matr['cphi0'][0].dot(self._matr['tiltFork'][0]) out.shape=(1,3,3) self._matr['M2']=out*1 # out=self._matr['omegaVAX'][0].dot(self._matr['zVAX'][0]) out.shape=(1,3,3) self._matr['M3']=out*1 # self._isComplete=True else : self._isComplete=False raise Error('Not configuration not completed','') raise Error('Configuration not completed','') # def __call__(self,CTHETA_PHI,axis0isNPOS=False) : def __call__(self,CTHETA_PHI) : """ Apply rotations for a list of NPOS control angles: (CTR_THETA, CTR_PHI) Loading Loading @@ -441,39 +294,29 @@ while PMatrB[0] is the rotation matrix for the case (45.,0.) and PMatrB[:,2] is """ if not self.isComplete : raise Error('Configuration not completed or not committed','') self._d['CTHETA_PHI']=CTHETA_PHI # self._matr['CTRL_THETA']=self.MatrY(np.deg2rad(CTHETA_PHI[:,0])) self._matr['CTRL_PHI']=self.MatrZ(np.deg2rad(CTHETA_PHI[:,1])) self._d['CTHETA_PHI']=CTHETA_PHI # out=self._matr['CTRL_THETA'].apply_to(self._matr['M1']) out=self._matr['M2'].apply_to(out) out=self._matr['CTRL_PHI'].apply_to(out) out=self._matr['M3'].apply_to(out) # theta rotation self._matr['CTRL_THETA']=self.ERotY(np.deg2rad(CTHETA_PHI[:,0])) # #stores Rout self._matr['Rout']=out # phi rotation self._matr['CTRL_PHI']=self.ERotZ(np.deg2rad(CTHETA_PHI[:,1])) # #set output has NPOS,3,3 shape if required #if axis0isNPOS==True : #out=np.moveaxis(out,0,2) # apply each theta rotation to M1 out=[k.dot(self._matr['M1'][0]) for k in self._matr['CTRL_THETA']] # return out # apply M2 to each out out1=[self._matr['M2'][0].dot(k) for k in out] # def MatrX(self,Angle,deg=True) : return ElemRot('x',Angle,deg=deg) # apply phi rotation to each out2 out2=[self._matr['CTRL_PHI'][ik].dot(k) for ik, k in enumerate(out1)] # def MatrY(self,angle) : return ElemRot('y',Angle,deg=deg) # apply M3 to each out3 out3=np.array([self._matr['M3'][0].dot(k) for k in out2]) # def MatrZ(self,angle) : return ElemRot('z',Angle,deg=deg) #stores Rout self._matr['Rout']=out3 # def rmult(self,this,that) : out=np.zeros([3,3,max(this.shape[2],that.shape[2])]) for i in range(3) : for j in range(3) : for l in range(3) : out[i,j]+=this[i,l]*that[l,j] return out return out3
PyPRM/example/example.py 0 → 100644 +128 −0 Original line number Diff line number Diff line # # example of use of pyPRM # from PyPRM import * from collections import OrderedDict from matplotlib import pyplot as plt # class to create standardized plots class stereographic : def __init__(self,figsize=[12,12]) : self._uxyz=None self.h=None def project(self,xyz) : theta=np.arctan2(xyz[:,1],xyz[:,0]) radius=np.arccos(xyz[:,2]) return theta,radius @property def uxyz(self) : return self._uxyz @uxyz.setter def uxyz(self,this) : self._uxyz=this def uplot(self) : x=np.arange(10)/10. self.h=plt.polar(x*2*pi/10,x*0+1.2) self.h[0].set_visible(False) for k in self.uxyz : _utheta,_uradius=self.project(k) plt.polar(_utheta,_uradius,color='gray') def plot(self,xyz,**karg) : theta,radius=self.project(xyz) plt.polar(theta[0],radius[0],'o',markersize=8,color='gray') plt.polar(theta,radius,**karg) plt.show() # # list of Theta,Phi positions CT_P=np.array([ [0.,0.] ,[30.,0.] ,[60.,0.] ,[30.,90.] ,[30.,180.] ,[30.,270.] ]) # the first case, an ideal telescope pm0I=PRM0(ideal=True) R=OrderedDict() R['Ideal']=pm0I(CT_P) # camera roll pm0roll=PRM0(ideal=True) pm0roll.roll=45 pm0roll.commit() R['roll']=pm0roll(CT_P) # camera pan pm0pan=PRM0(ideal=True) pm0pan.pan=10 pm0pan.commit() R['pan']=pm0pan(CT_P) # camera tilt pm0tilt=PRM0(ideal=True) pm0tilt.tilt=10 pm0tilt.commit() R['tilt']=pm0tilt(CT_P) # tiltFork pm0tiltFork=PRM0(ideal=True) pm0tiltFork.tiltFork=10 pm0tiltFork.commit() R['tiltFork']=pm0tiltFork(CT_P) # ctheta0 pm0ctheta0=PRM0(ideal=True) pm0ctheta0.ctheta0=10 pm0ctheta0.commit() R['ctheta0']=pm0ctheta0(CT_P) # cphi0 pm0cphi0=PRM0(ideal=True) pm0cphi0.cphi0=10 pm0cphi0.commit() R['cphi0']=pm0cphi0(CT_P) # zVAX pm0zVAX=PRM0(ideal=True) pm0zVAX.zVAX=10 pm0zVAX.commit() R['zVAX']=pm0zVAX(CT_P) # omegaVAX pm0omegaVAX=PRM0(ideal=True) pm0omegaVAX.omegaVAX=10 pm0omegaVAX.commit() R['omegaVAX']=pm0omegaVAX(CT_P) # # rotates a 4 points fow # FOW trace w=6; sw = np.sin(np.deg2rad(w)) h=2; sh = np.sin(np.deg2rad(h)) z=(1-sw**2-sh**2)**0.5 V=np.array([ [ sw, sh, z] ,[ sw,-sh, z] ,[-sw,-sh, z] ,[-sw, sh, z] ,[ sw, sh, z] ]) plt.close('all') # std=stereographic() std.uxyz=[np.array([k.dot(k1) for k1 in V]) for k in R['Ideal']] # for karg in ['Ideal','roll','pan','tilt','tiltFork','ctheta0','cphi0','zVAX','omegaVAX'] : plt.figure(figsize=[8,8]) std.uplot() for k in R[karg] : Vr=np.array([k.dot(k1) for k1 in V]) std.plot(Vr) plt.title(karg) plt.savefig('/tmp/polar_%s.pdf'%karg,dpi=plt.gcf().get_dpi()) plt.show()
