acoular 24.3__py3-none-any.whl → 24.5__py3-none-any.whl

acoular/tbeamform.py

@@ -1,8 +1,6 @@
-# -*- coding: utf-8 -*-
-#pylint: disable-msg=E0611, E1101, C0103, R0901, R0902, R0903, R0904, W0232
-#------------------------------------------------------------------------------
+# ------------------------------------------------------------------------------
 # Copyright (c) Acoular Development Team.
-#------------------------------------------------------------------------------
+# ------------------------------------------------------------------------------
 """Implements beamformers in the time domain.
 
 .. autosummary::
@@ -20,245 +18,257 @@
 """
 
 # imports from other packages
-from __future__ import print_function, division
-from numpy import array, newaxis, empty, sqrt, arange, r_, zeros, \
-histogram, unique, dot, where, s_ , sum, isscalar, full, ceil, argmax,\
-interp,concatenate, float32, float64, int32, int64
+from warnings import warn
+
+from numpy import (
+    arange,
+    argmax,
+    array,
+    ceil,
+    concatenate,
+    dot,
+    empty,
+    float32,
+    float64,
+    histogram,
+    int32,
+    int64,
+    interp,
+    isscalar,
+    newaxis,
+    r_,
+    s_,
+    sqrt,
+    sum,
+    unique,
+    where,
+    zeros,
+)
 from numpy.linalg import norm
-from traits.api import Float, CArray, Property, Trait, Bool, Delegate, \
-cached_property, List, Instance, Range, Int, Enum
+from traits.api import Bool, CArray, Delegate, Enum, Float, Instance, Int, List, Property, Range, Trait, cached_property
 from traits.trait_errors import TraitError
-from warnings import warn
+
+from .fbeamform import SteeringVector
+from .grids import RectGrid
 
 # acoular imports
 from .internal import digest
-from .grids import RectGrid
-from .trajectory import Trajectory
+from .tfastfuncs import _delayandsum4, _delayandsum5, _delays, _steer_I, _steer_II, _steer_III, _steer_IV
 from .tprocess import TimeInOut
-from .fbeamform import SteeringVector, L_p
-from .tfastfuncs import _delayandsum4, _delayandsum5, \
-    _steer_I, _steer_II, _steer_III, _steer_IV, _delays, _modf
+from .trajectory import Trajectory
 
 
-def const_power_weight( bf ):
-    """
-    Internal helper function for :class:`BeamformerTime`
-    
-    Provides microphone weighting 
+def const_power_weight(bf):
+    """Internal helper function for :class:`BeamformerTime`.
+
+    Provides microphone weighting
     to make the power per unit area of the
     microphone array geometry constant.
-    
+
     Parameters
     ----------
     bf: :class:`BeamformerTime` object
-        
-          
+
+
     Returns
     -------
     array of floats
         The weight factors.
-    """
 
-    r = bf.steer.env._r(zeros((3, 1)), bf.steer.mics.mpos) # distances to center
+    """
+    r = bf.steer.env._r(zeros((3, 1)), bf.steer.mics.mpos)  # distances to center
     # round the relative distances to one decimal place
-    r = (r/r.max()).round(decimals=1)
+    r = (r / r.max()).round(decimals=1)
     ru, ind = unique(r, return_inverse=True)
-    ru = (ru[1:]+ru[:-1])/2
-    count, bins = histogram(r, r_[0, ru, 1.5*r.max()-0.5*ru[-1]])
+    ru = (ru[1:] + ru[:-1]) / 2
+    count, bins = histogram(r, r_[0, ru, 1.5 * r.max() - 0.5 * ru[-1]])
     bins *= bins
-    weights = sqrt((bins[1:]-bins[:-1])/count)
+    weights = sqrt((bins[1:] - bins[:-1]) / count)
     weights /= weights.mean()
     return weights[ind]
 
+
 # possible choices for spatial weights
-possible_weights = {'none':None, 
-                    'power':const_power_weight}
+possible_weights = {'none': None, 'power': const_power_weight}
 
 
-class BeamformerTime( TimeInOut ):
-    """
-    Provides a basic time domain beamformer with time signal output
+class BeamformerTime(TimeInOut):
+    """Provides a basic time domain beamformer with time signal output
     for a spatially fixed grid.
     """
 
-
     # Instance of :class:`~acoular.fbeamform.SteeringVector` or its derived classes
     # that contains information about the steering vector. This is a private trait.
     # Do not set this directly, use `steer` trait instead.
-    _steer_obj = Instance(SteeringVector(), SteeringVector)   
-    
-    #: :class:`~acoular.fbeamform.SteeringVector` or derived object. 
+    _steer_obj = Instance(SteeringVector(), SteeringVector)
+
+    #: :class:`~acoular.fbeamform.SteeringVector` or derived object.
     #: Defaults to :class:`~acoular.fbeamform.SteeringVector` object.
-    steer = Property(desc="steering vector object")  
-    
+    steer = Property(desc='steering vector object')
+
     def _get_steer(self):
         return self._steer_obj
-    
+
     def _set_steer(self, steer):
         if type(steer) == SteeringVector:
             # This condition may be replaced at a later time by: isinstance(steer, SteeringVector): -- (derived classes allowed)
             self._steer_obj = steer
         elif steer in ('true level', 'true location', 'classic', 'inverse'):
             # Type of steering vectors, see also :ref:`Sarradj, 2012<Sarradj2012>`.
-            warn("Deprecated use of 'steer' trait. "
-                 "Please use object of class 'SteeringVector' in the future.", 
-                 Warning, stacklevel = 2)
+            warn(
+                "Deprecated use of 'steer' trait. Please use object of class 'SteeringVector' in the future.",
+                Warning,
+                stacklevel=2,
+            )
             self._steer_obj.steer_type = steer
         else:
-            raise(TraitError(args=self,
-                             name='steer', 
-                             info='SteeringVector',
-                             value=steer))
+            raise (TraitError(args=self, name='steer', info='SteeringVector', value=steer))
 
     # --- List of backwards compatibility traits and their setters/getters -----------
-    
-    # :class:`~acoular.environments.Environment` or derived object. 
-    # Deprecated! Only kept for backwards compatibility. 
+
+    # :class:`~acoular.environments.Environment` or derived object.
+    # Deprecated! Only kept for backwards compatibility.
     # Now governed by :attr:`steer` trait.
     env = Property()
-    
+
     def _get_env(self):
-        return self._steer_obj.env    
-    
+        return self._steer_obj.env
+
     def _set_env(self, env):
-        warn("Deprecated use of 'env' trait. ", Warning, stacklevel = 2)
+        warn("Deprecated use of 'env' trait. ", Warning, stacklevel=2)
         self._steer_obj.env = env
-    
+
     # The speed of sound.
-    # Deprecated! Only kept for backwards compatibility. 
+    # Deprecated! Only kept for backwards compatibility.
     # Now governed by :attr:`steer` trait.
     c = Property()
-    
+
     def _get_c(self):
         return self._steer_obj.env.c
-    
+
     def _set_c(self, c):
-        warn("Deprecated use of 'c' trait. ", Warning, stacklevel = 2)
+        warn("Deprecated use of 'c' trait. ", Warning, stacklevel=2)
         self._steer_obj.env.c = c
-   
+
     # :class:`~acoular.grids.Grid`-derived object that provides the grid locations.
-    # Deprecated! Only kept for backwards compatibility. 
+    # Deprecated! Only kept for backwards compatibility.
     # Now governed by :attr:`steer` trait.
     grid = Property()
 
     def _get_grid(self):
         return self._steer_obj.grid
-    
+
     def _set_grid(self, grid):
-        warn("Deprecated use of 'grid' trait. ", Warning, stacklevel = 2)
+        warn("Deprecated use of 'grid' trait. ", Warning, stacklevel=2)
         self._steer_obj.grid = grid
-    
+
     # :class:`~acoular.microphones.MicGeom` object that provides the microphone locations.
-    # Deprecated! Only kept for backwards compatibility. 
+    # Deprecated! Only kept for backwards compatibility.
     # Now governed by :attr:`steer` trait
     mpos = Property()
-    
+
     def _get_mpos(self):
         return self._steer_obj.mics
-    
+
     def _set_mpos(self, mpos):
-        warn("Deprecated use of 'mpos' trait. ", Warning, stacklevel = 2)
+        warn("Deprecated use of 'mpos' trait. ", Warning, stacklevel=2)
         self._steer_obj.mics = mpos
-    
-    
+
     # Sound travel distances from microphone array center to grid points (r0)
     # and all array mics to grid points (rm). Readonly.
-    # Deprecated! Only kept for backwards compatibility. 
+    # Deprecated! Only kept for backwards compatibility.
     # Now governed by :attr:`steer` trait
     r0 = Property()
+
     def _get_r0(self):
         return self._steer_obj.r0
-    
+
     rm = Property()
+
     def _get_rm(self):
         return self._steer_obj.rm
-    
+
     # --- End of backwards compatibility traits --------------------------------------
 
     #: Number of channels in output (=number of grid points).
     numchannels = Delegate('grid', 'size')
 
     #: Spatial weighting function.
-    weights = Trait('none', possible_weights, 
-        desc="spatial weighting function")
+    weights = Trait('none', possible_weights, desc='spatial weighting function')
     # (from timedomain.possible_weights)
 
-    # buffer with microphone time signals used for processing. Internal use 
-    buffer = CArray(desc="buffer containing microphone signals")
-    
+    # buffer with microphone time signals used for processing. Internal use
+    buffer = CArray(desc='buffer containing microphone signals')
+
     # index indicating position of current processing sample. Internal use.
-    bufferIndex = Int(desc="index indicating position in buffer")
+    bufferIndex = Int(desc='index indicating position in buffer')
 
     # internal identifier
-    digest = Property( 
-        depends_on = ['_steer_obj.digest', 'source.digest', 'weights', '__class__'], 
-        )
+    digest = Property(
+        depends_on=['_steer_obj.digest', 'source.digest', 'weights', '__class__'],
+    )
 
     @cached_property
-    def _get_digest( self ):
+    def _get_digest(self):
         return digest(self)
-    
+
     def _get_weights(self):
-        if self.weights_:
-            w = self.weights_(self)[newaxis]
-        else:
-            w = 1.0
-        return w
+        return self.weights_(self)[newaxis] if self.weights_ else 1.0
 
-    def _fill_buffer(self,num):
-        """ generator that fills the signal buffer """
+    def _fill_buffer(self, num):
+        """Generator that fills the signal buffer."""
         weights = self._get_weights()
         for block in self.source.result(num):
             block *= weights
             ns = block.shape[0]
             bufferSize = self.buffer.shape[0]
-            self.buffer[0:(bufferSize-ns)] = self.buffer[-(bufferSize-ns):] 
-            self.buffer[-ns:,:] = block
+            self.buffer[0 : (bufferSize - ns)] = self.buffer[-(bufferSize - ns) :]
+            self.buffer[-ns:, :] = block
             self.bufferIndex -= ns
             yield
-         
-    def result( self, num=2048 ):
-        """
-        Python generator that yields the *squared* deconvolved beamformer 
+
+    def result(self, num=2048):
+        """Python generator that yields the *squared* deconvolved beamformer
         output with optional removal of autocorrelation block-wise.
-        
+
         Parameters
         ----------
         num : integer, defaults to 2048
             This parameter defines the size of the blocks to be yielded
             (i.e. the number of samples per block).
-        
+
         Returns
         -------
         Samples in blocks of shape  \
-        (num, :attr:`~BeamformerTime.numchannels`). 
+        (num, :attr:`~BeamformerTime.numchannels`).
             :attr:`~BeamformerTime.numchannels` is usually very \
             large (number of grid points).
             The last block may be shorter than num. \
-            The output starts for signals that were emitted 
+            The output starts for signals that were emitted
             from the grid at `t=0`.
+
         """
         # initialize values
         fdtype = float64
         idtype = int64
         numMics = self.steer.mics.num_mics
-        n_index = arange(0,num+1)[:,newaxis]
-        c = self.steer.env.c/self.source.sample_freq
-        amp = empty((1,self.grid.size,numMics),dtype=fdtype)
-        #delays = empty((1,self.grid.size,numMics),dtype=fdtype)
-        d_index = empty((1,self.grid.size,numMics),dtype=idtype)
-        d_interp2 = empty((1,self.grid.size,numMics),dtype=fdtype)
-        _steer_III(self.rm[newaxis,:,:],self.r0[newaxis,:],amp)
-        _delays(self.rm[newaxis,:,:], c, d_interp2, d_index)
+        n_index = arange(0, num + 1)[:, newaxis]
+        c = self.steer.env.c / self.source.sample_freq
+        amp = empty((1, self.grid.size, numMics), dtype=fdtype)
+        # delays = empty((1,self.grid.size,numMics),dtype=fdtype)
+        d_index = empty((1, self.grid.size, numMics), dtype=idtype)
+        d_interp2 = empty((1, self.grid.size, numMics), dtype=fdtype)
+        _steer_III(self.rm[newaxis, :, :], self.r0[newaxis, :], amp)
+        _delays(self.rm[newaxis, :, :], c, d_interp2, d_index)
         amp.shape = amp.shape[1:]
-        #delays.shape = delays.shape[1:]
+        # delays.shape = delays.shape[1:]
         d_index.shape = d_index.shape[1:]
         d_interp2.shape = d_interp2.shape[1:]
-        maxdelay = int((self.rm/c).max())+2 + num # +2 because of interpolation
-        initialNumberOfBlocks = int(ceil(maxdelay/num))
-        bufferSize=initialNumberOfBlocks*num
-        self.buffer = zeros((bufferSize,numMics), dtype=float)
-        self.bufferIndex = bufferSize # indexing current time sample in buffer 
+        maxdelay = int((self.rm / c).max()) + 2 + num  # +2 because of interpolation
+        initialNumberOfBlocks = int(ceil(maxdelay / num))
+        bufferSize = initialNumberOfBlocks * num
+        self.buffer = zeros((bufferSize, numMics), dtype=float)
+        self.bufferIndex = bufferSize  # indexing current time sample in buffer
         fill_buffer_generator = self._fill_buffer(num)
         for _ in range(initialNumberOfBlocks):
             next(fill_buffer_generator)
@@ -266,264 +276,254 @@ class BeamformerTime( TimeInOut ):
         # start processing
         flag = True
         while flag:
-            samplesleft = self.buffer.shape[0]-self.bufferIndex
-            if samplesleft-maxdelay <= 0:
-                num += samplesleft-maxdelay
-                maxdelay += samplesleft-maxdelay
-                n_index = arange(0,num+1)[:,newaxis]
-                flag=False
+            samplesleft = self.buffer.shape[0] - self.bufferIndex
+            if samplesleft - maxdelay <= 0:
+                num += samplesleft - maxdelay
+                maxdelay += samplesleft - maxdelay
+                n_index = arange(0, num + 1)[:, newaxis]
+                flag = False
             # init step
-            p_res = array(
-                self.buffer[self.bufferIndex:self.bufferIndex+maxdelay,:])
-            Phi, autopow = self.delay_and_sum(num,p_res,d_interp2,d_index,amp)
+            p_res = array(self.buffer[self.bufferIndex : self.bufferIndex + maxdelay, :])
+            Phi, autopow = self.delay_and_sum(num, p_res, d_interp2, d_index, amp)
             if 'Cleant' not in self.__class__.__name__:
                 if 'Sq' not in self.__class__.__name__:
                     yield Phi[:num]
-                elif self.r_diag:                 
-                    yield (Phi[:num]**2 - autopow[:num]).clip(min=0)
+                elif self.r_diag:
+                    yield (Phi[:num] ** 2 - autopow[:num]).clip(min=0)
                 else:
-                    yield Phi[:num]**2
+                    yield Phi[:num] ** 2
             else:
                 Gamma = zeros(Phi.shape)
                 Gamma_autopow = zeros(Phi.shape)
                 J = 0
-                # deconvolution 
-                while (J < self.n_iter):
+                # deconvolution
+                while self.n_iter > J:
                     # print(f"start clean iteration {J+1} of max {self.n_iter}")
-                    if self.r_diag:
-                        powPhi = (Phi[:num]**2-autopow).sum(0).clip(min=0)
-                    else:
-                        powPhi = (Phi[:num]**2).sum(0)
+                    powPhi = (Phi[:num] ** 2 - autopow).sum(0).clip(min=0) if self.r_diag else (Phi[:num] ** 2).sum(0)
                     imax = argmax(powPhi)
                     t_float = d_interp2[imax] + d_index[imax] + n_index
                     t_ind = t_float.astype(int64)
-                    for m in range(numMics): 
-                        p_res[t_ind[:num+1,m],m] -= self.damp*interp(t_ind[:num+1,m],
-                                                                t_float[:num,m],
-                                                                    Phi[:num,imax]*self.r0[imax]/self.rm[imax,m],
-                                                                    )
-                    nextPhi, nextAutopow = self.delay_and_sum(num,p_res,d_interp2,d_index,amp)
+                    for m in range(numMics):
+                        p_res[t_ind[: num + 1, m], m] -= self.damp * interp(
+                            t_ind[: num + 1, m],
+                            t_float[:num, m],
+                            Phi[:num, imax] * self.r0[imax] / self.rm[imax, m],
+                        )
+                    nextPhi, nextAutopow = self.delay_and_sum(num, p_res, d_interp2, d_index, amp)
                     if self.r_diag:
-                        pownextPhi = (nextPhi[:num]**2-nextAutopow).sum(0).clip(min=0)
+                        pownextPhi = (nextPhi[:num] ** 2 - nextAutopow).sum(0).clip(min=0)
                     else:
-                        pownextPhi = (nextPhi[:num]**2).sum(0)
+                        pownextPhi = (nextPhi[:num] ** 2).sum(0)
                     # print(f"total signal power: {powPhi.sum()}")
-                    if pownextPhi.sum() < powPhi.sum(): # stopping criterion
-                        Gamma[:num,imax] += self.damp*Phi[:num,imax]
-                        Gamma_autopow[:num,imax] = autopow[:num,imax].copy()
-                        Phi=nextPhi
-                        autopow=nextAutopow
+                    if pownextPhi.sum() < powPhi.sum():  # stopping criterion
+                        Gamma[:num, imax] += self.damp * Phi[:num, imax]
+                        Gamma_autopow[:num, imax] = autopow[:num, imax].copy()
+                        Phi = nextPhi
+                        autopow = nextAutopow
                         # print(f"clean max: {L_p((Gamma**2).sum(0)/num).max()} dB")
                         J += 1
                     else:
                         break
                 if 'Sq' not in self.__class__.__name__:
                     yield Gamma[:num]
-                elif self.r_diag:                 
-                    yield Gamma[:num]**2 - (self.damp**2)*Gamma_autopow[:num]
+                elif self.r_diag:
+                    yield Gamma[:num] ** 2 - (self.damp**2) * Gamma_autopow[:num]
                 else:
-                    yield Gamma[:num]**2
+                    yield Gamma[:num] ** 2
             self.bufferIndex += num
             try:
                 next(fill_buffer_generator)
-            except: 
+            except:
                 pass
 
-    def delay_and_sum(self,num,p_res,d_interp2,d_index,amp): 
-        ''' standard delay-and-sum method ''' 
-        result = empty((num, self.grid.size), dtype=float) # output array
-        autopow = empty((num, self.grid.size), dtype=float) # output array
+    def delay_and_sum(self, num, p_res, d_interp2, d_index, amp):
+        """Standard delay-and-sum method."""
+        result = empty((num, self.grid.size), dtype=float)  # output array
+        autopow = empty((num, self.grid.size), dtype=float)  # output array
         _delayandsum4(p_res, d_index, d_interp2, amp, result, autopow)
-        return result, autopow          
-            
+        return result, autopow
 
-class BeamformerTimeSq( BeamformerTime ):
-    """
-    Provides a time domain beamformer with time-dependend
+
+class BeamformerTimeSq(BeamformerTime):
+    """Provides a time domain beamformer with time-dependend
     power signal output and possible autopower removal
     for a spatially fixed grid.
     """
-    
+
     #: Boolean flag, if 'True' (default), the main diagonal is removed before beamforming.
-    r_diag = Bool(True, 
-        desc="removal of diagonal")
+    r_diag = Bool(True, desc='removal of diagonal')
 
     # internal identifier
-    digest = Property( 
-        depends_on = ['_steer_obj.digest', 'source.digest', 'r_diag', \
-                      'weights', '__class__'], 
-        )
+    digest = Property(
+        depends_on=['_steer_obj.digest', 'source.digest', 'r_diag', 'weights', '__class__'],
+    )
 
     @cached_property
-    def _get_digest( self ):
+    def _get_digest(self):
         return digest(self)
-        
 
-class BeamformerTimeTraj( BeamformerTime ):
-    """
-    Provides a basic time domain beamformer with time signal output
+
+class BeamformerTimeTraj(BeamformerTime):
+    """Provides a basic time domain beamformer with time signal output
     for a grid moving along a trajectory.
     """
 
-
     #: :class:`~acoular.trajectory.Trajectory` or derived object.
     #: Start time is assumed to be the same as for the samples.
-    trajectory = Trait(Trajectory, 
-        desc="trajectory of the grid center")
+    trajectory = Trait(Trajectory, desc='trajectory of the grid center')
 
     #: Reference vector, perpendicular to the y-axis of moving grid.
-    rvec = CArray( dtype=float, shape=(3, ), value=array((0, 0, 0)), 
-        desc="reference vector")
-    
+    rvec = CArray(dtype=float, shape=(3,), value=array((0, 0, 0)), desc='reference vector')
+
     #: Considering of convective amplification in beamforming formula.
-    conv_amp = Bool(False, 
-        desc="determines if convective amplification of source is considered")
+    conv_amp = Bool(False, desc='determines if convective amplification of source is considered')
 
     #: Floating point and integer precision
-    precision = Trait(64, [32,64], 
-        desc="numeric precision")
+    precision = Trait(64, [32, 64], desc='numeric precision')
 
     # internal identifier
-    digest = Property( 
-        depends_on = ['_steer_obj.digest', 'source.digest', 'weights', 'precision',\
-                      'rvec','conv_amp','trajectory.digest', '__class__'], 
-        )
+    digest = Property(
+        depends_on=[
+            '_steer_obj.digest',
+            'source.digest',
+            'weights',
+            'precision',
+            'rvec',
+            'conv_amp',
+            'trajectory.digest',
+            '__class__',
+        ],
+    )
 
     @cached_property
-    def _get_digest( self ):
+    def _get_digest(self):
         return digest(self)
-        
+
     def get_moving_gpos(self):
-        """
-        Python generator that yields the moving grid coordinates samplewise 
-        """
+        """Python generator that yields the moving grid coordinates samplewise."""
+
         def cross(a, b):
-            """ cross product for fast computation
-                because numpy.cross is ultra slow in this case
+            """Cross product for fast computation
+            because numpy.cross is ultra slow in this case.
             """
-            return array([a[1]*b[2] - a[2]*b[1],
-                        a[2]*b[0] - a[0]*b[2],
-                        a[0]*b[1] - a[1]*b[0]])
+            return array([a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]])
 
         start_t = 0.0
         gpos = self.grid.pos()
-        trajg = self.trajectory.traj( start_t, delta_t=1/self.source.sample_freq)
-        trajg1 = self.trajectory.traj( start_t, delta_t=1/self.source.sample_freq, 
-                                  der=1)
-        rflag = (self.rvec == 0).all() #flag translation vs. rotation
+        trajg = self.trajectory.traj(start_t, delta_t=1 / self.source.sample_freq)
+        trajg1 = self.trajectory.traj(start_t, delta_t=1 / self.source.sample_freq, der=1)
+        rflag = (self.rvec == 0).all()  # flag translation vs. rotation
         if rflag:
             for g in trajg:
                 # grid is only translated, not rotated
                 tpos = gpos + array(g)[:, newaxis]
                 yield tpos
         else:
-            for (g,g1) in zip(trajg,trajg1):
+            for g, g1 in zip(trajg, trajg1):
                 # grid is both translated and rotated
-                loc = array(g) #translation array([0., 0.4, 1.])
-                dx = array(g1) #direction vector (new x-axis)
-                dy = cross(self.rvec, dx) # new y-axis
-                dz = cross(dx, dy) # new z-axis
-                RM = array((dx, dy, dz)).T # rotation matrix
-                RM /= sqrt((RM*RM).sum(0)) # column normalized
-                tpos = dot(RM, gpos)+loc[:, newaxis] # rotation+translation
-#                print(loc[:])
+                loc = array(g)  # translation array([0., 0.4, 1.])
+                dx = array(g1)  # direction vector (new x-axis)
+                dy = cross(self.rvec, dx)  # new y-axis
+                dz = cross(dx, dy)  # new z-axis
+                RM = array((dx, dy, dz)).T  # rotation matrix
+                RM /= sqrt((RM * RM).sum(0))  # column normalized
+                tpos = dot(RM, gpos) + loc[:, newaxis]  # rotation+translation
+                #                print(loc[:])
                 yield tpos
 
-    def get_macostheta(self,g1,tpos,rm):
-        vvec = array(g1) # velocity vector
-        ma = norm(vvec)/self.steer.env.c # machnumber
-        fdv = (vvec/sqrt((vvec*vvec).sum()))[:, newaxis] # unit vecor velocity
+    def get_macostheta(self, g1, tpos, rm):
+        vvec = array(g1)  # velocity vector
+        ma = norm(vvec) / self.steer.env.c  # machnumber
+        fdv = (vvec / sqrt((vvec * vvec).sum()))[:, newaxis]  # unit vecor velocity
         mpos = self.steer.mics.mpos[:, newaxis, :]
-        rmv = tpos[:, :, newaxis]-mpos
-        return (ma*sum(rmv.reshape((3, -1))*fdv, 0)\
-                                  /rm.reshape(-1)).reshape(rm.shape)
+        rmv = tpos[:, :, newaxis] - mpos
+        return (ma * sum(rmv.reshape((3, -1)) * fdv, 0) / rm.reshape(-1)).reshape(rm.shape)
 
-    def get_r0( self, tpos ):
+    def get_r0(self, tpos):
         if isscalar(self.steer.ref) and self.steer.ref > 0:
-            return self.steer.ref#full((self.steer.grid.size,), self.steer.ref)
-        else:
-            return self.env._r(tpos)
+            return self.steer.ref  # full((self.steer.grid.size,), self.steer.ref)
+        return self.env._r(tpos)
 
-    def increase_buffer( self, num ): 
-        ar = zeros((num,self.steer.mics.num_mics), dtype=self.buffer.dtype)
-        self.buffer = concatenate((ar,self.buffer), axis=0)
+    def increase_buffer(self, num):
+        ar = zeros((num, self.steer.mics.num_mics), dtype=self.buffer.dtype)
+        self.buffer = concatenate((ar, self.buffer), axis=0)
         self.bufferIndex += num
 
-    def result( self, num=2048 ):
-        """
-        Python generator that yields the deconvolved output block-wise. 
-        
+    def result(self, num=2048):
+        """Python generator that yields the deconvolved output block-wise.
+
         Parameters
         ----------
         num : integer, defaults to 2048
             This parameter defines the size of the blocks to be yielded
             (i.e. the number of samples per block).
-        
+
         Returns
         -------
         Samples in blocks of shape  \
-        (num, :attr:`~BeamformerTime.numchannels`). 
+        (num, :attr:`~BeamformerTime.numchannels`).
             :attr:`~BeamformerTime.numchannels` is usually very \
             large (number of grid points).
             The last block may be shorter than num. \
-            The output starts for signals that were emitted 
+            The output starts for signals that were emitted
             from the grid at `t=0`.
+
         """
         # initialize values
-        if self.precision==64:
+        if self.precision == 64:
             fdtype = float64
             idtype = int64
         else:
             fdtype = float32
             idtype = int32
         w = self._get_weights()
-        c = self.steer.env.c/self.source.sample_freq
+        c = self.steer.env.c / self.source.sample_freq
         numMics = self.steer.mics.num_mics
         mpos = self.steer.mics.mpos.astype(fdtype)
         m_index = arange(numMics, dtype=idtype)
-        n_index = arange(num,dtype=idtype)[:,newaxis]
-        blockrm = empty((num,self.grid.size,numMics),dtype=fdtype)
-        blockrmconv = empty((num,self.grid.size,numMics),dtype=fdtype)
-        amp = empty((num,self.grid.size,numMics),dtype=fdtype)
-        #delays = empty((num,self.grid.size,numMics),dtype=fdtype)
-        d_index = empty((num,self.grid.size,numMics),dtype=idtype)
-        d_interp2 = empty((num,self.grid.size,numMics),dtype=fdtype)
-        blockr0 = empty((num,self.grid.size),dtype=fdtype)
-        self.buffer = zeros((2*num,numMics), dtype=fdtype)
-        self.bufferIndex = self.buffer.shape[0] 
-        movgpos = self.get_moving_gpos() # create moving grid pos generator
-        movgspeed = self.trajectory.traj(0.0, delta_t=1/self.source.sample_freq, 
-              der=1)
+        n_index = arange(num, dtype=idtype)[:, newaxis]
+        blockrm = empty((num, self.grid.size, numMics), dtype=fdtype)
+        blockrmconv = empty((num, self.grid.size, numMics), dtype=fdtype)
+        amp = empty((num, self.grid.size, numMics), dtype=fdtype)
+        # delays = empty((num,self.grid.size,numMics),dtype=fdtype)
+        d_index = empty((num, self.grid.size, numMics), dtype=idtype)
+        d_interp2 = empty((num, self.grid.size, numMics), dtype=fdtype)
+        blockr0 = empty((num, self.grid.size), dtype=fdtype)
+        self.buffer = zeros((2 * num, numMics), dtype=fdtype)
+        self.bufferIndex = self.buffer.shape[0]
+        movgpos = self.get_moving_gpos()  # create moving grid pos generator
+        movgspeed = self.trajectory.traj(0.0, delta_t=1 / self.source.sample_freq, der=1)
         fill_buffer_generator = self._fill_buffer(num)
-        for i in range(2): 
+        for _i in range(2):
             next(fill_buffer_generator)
-        
+
         # preliminary implementation of different steering vectors
-        steer_func = {'classic' : _steer_I,
-                'inverse' : _steer_II,
-                'true level' : _steer_III,
-                'true location' : _steer_IV
-                }[self.steer.steer_type]
+        steer_func = {
+            'classic': _steer_I,
+            'inverse': _steer_II,
+            'true level': _steer_III,
+            'true location': _steer_IV,
+        }[self.steer.steer_type]
 
         # start processing
         flag = True
-        dflag = True # data is available 
+        dflag = True  # data is available
         while flag:
             for i in range(num):
                 tpos = next(movgpos).astype(fdtype)
-                rm = self.steer.env._r( tpos, mpos )#.astype(fdtype) 
-                blockr0[i,:] = self.get_r0(tpos)
-                blockrm[i,:,:] = rm
+                rm = self.steer.env._r(tpos, mpos)  # .astype(fdtype)
+                blockr0[i, :] = self.get_r0(tpos)
+                blockrm[i, :, :] = rm
                 if self.conv_amp:
                     ht = next(movgspeed)
-                    blockrmconv[i,:,:] = rm*(1-self.get_macostheta(ht,tpos,rm))**2
+                    blockrmconv[i, :, :] = rm * (1 - self.get_macostheta(ht, tpos, rm)) ** 2
             if self.conv_amp:
                 steer_func(blockrmconv, blockr0, amp)
             else:
                 steer_func(blockrm, blockr0, amp)
             _delays(blockrm, c, d_interp2, d_index)
-            #_modf(delays, d_interp2, d_index)
-            maxdelay = (d_index.max((1,2)) + arange(0,num)).max()+2 # + because of interpolation
+            # _modf(delays, d_interp2, d_index)
+            maxdelay = (d_index.max((1, 2)) + arange(0, num)).max() + 2  # + because of interpolation
             # increase buffer size because of greater delays
             while maxdelay > self.buffer.shape[0] and dflag:
                 self.increase_buffer(num)
@@ -531,230 +531,233 @@ class BeamformerTimeTraj( BeamformerTime ):
                     next(fill_buffer_generator)
                 except:
                     dflag = False
-            samplesleft = self.buffer.shape[0]-self.bufferIndex
+            samplesleft = self.buffer.shape[0] - self.bufferIndex
             # last block may be shorter
-            if samplesleft-maxdelay <= 0:
-                num = sum((d_index.max((1,2))+1+arange(0,num)) < samplesleft)
-                n_index = arange(num,dtype=idtype)[:,newaxis]
-                flag=False
+            if samplesleft - maxdelay <= 0:
+                num = sum((d_index.max((1, 2)) + 1 + arange(0, num)) < samplesleft)
+                n_index = arange(num, dtype=idtype)[:, newaxis]
+                flag = False
             # init step
-            p_res = self.buffer[self.bufferIndex:self.bufferIndex+maxdelay,:].copy()
-            Phi, autopow = self.delay_and_sum(num,p_res,d_interp2,d_index,amp)
+            p_res = self.buffer[self.bufferIndex : self.bufferIndex + maxdelay, :].copy()
+            Phi, autopow = self.delay_and_sum(num, p_res, d_interp2, d_index, amp)
             if 'Cleant' not in self.__class__.__name__:
                 if 'Sq' not in self.__class__.__name__:
                     yield Phi[:num]
-                elif self.r_diag:                 
-                    yield (Phi[:num]**2 - autopow[:num]).clip(min=0)
+                elif self.r_diag:
+                    yield (Phi[:num] ** 2 - autopow[:num]).clip(min=0)
                 else:
-                    yield Phi[:num]**2
+                    yield Phi[:num] ** 2
             else:
                 # choose correct distance
-                if self.conv_amp: 
-                    blockrm1 = blockrmconv
-                else:
-                    blockrm1 = blockrm
-                Gamma = zeros(Phi.shape,dtype=fdtype)
-                Gamma_autopow = zeros(Phi.shape,dtype=fdtype)
+                blockrm1 = blockrmconv if self.conv_amp else blockrm
+                Gamma = zeros(Phi.shape, dtype=fdtype)
+                Gamma_autopow = zeros(Phi.shape, dtype=fdtype)
                 J = 0
-                t_ind = arange(p_res.shape[0],dtype=idtype)
-                # deconvolution 
-                while (J < self.n_iter):
+                t_ind = arange(p_res.shape[0], dtype=idtype)
+                # deconvolution
+                while self.n_iter > J:
                     # print(f"start clean iteration {J+1} of max {self.n_iter}")
                     if self.r_diag:
-                        powPhi = (Phi[:num]*Phi[:num]-autopow).sum(0).clip(min=0)
+                        powPhi = (Phi[:num] * Phi[:num] - autopow).sum(0).clip(min=0)
                     else:
-                        powPhi = (Phi[:num]*Phi[:num]).sum(0)
+                        powPhi = (Phi[:num] * Phi[:num]).sum(0)
                     # find index of max power focus point
                     imax = argmax(powPhi)
                     # find backward delays
-                    t_float = (d_interp2[:num,imax,m_index] + \
-                               d_index[:num,imax,m_index] + \
-                               n_index).astype(fdtype)
+                    t_float = (d_interp2[:num, imax, m_index] + d_index[:num, imax, m_index] + n_index).astype(fdtype)
                     # determine max/min delays in sample units
                     # + 2 because we do not want to extrapolate behind the last sample
-                    ind_max = t_float.max(0).astype(idtype)+2 
+                    ind_max = t_float.max(0).astype(idtype) + 2
                     ind_min = t_float.min(0).astype(idtype)
                     # store time history at max power focus point
-                    h = Phi[:num,imax]*blockr0[:num,imax]
+                    h = Phi[:num, imax] * blockr0[:num, imax]
                     for m in range(numMics):
                         # subtract interpolated time history from microphone signals
-                        p_res[ind_min[m]:ind_max[m],m] -= self.damp*interp(
-                            t_ind[ind_min[m]:ind_max[m]], 
-                            t_float[:num,m],
-                            h/blockrm1[:num,imax,m],
-                                )
-                    nextPhi, nextAutopow = self.delay_and_sum(num,p_res,d_interp2,d_index,amp)
+                        p_res[ind_min[m] : ind_max[m], m] -= self.damp * interp(
+                            t_ind[ind_min[m] : ind_max[m]],
+                            t_float[:num, m],
+                            h / blockrm1[:num, imax, m],
+                        )
+                    nextPhi, nextAutopow = self.delay_and_sum(num, p_res, d_interp2, d_index, amp)
                     if self.r_diag:
-                        pownextPhi = (nextPhi[:num]*nextPhi[:num]-nextAutopow).sum(0).clip(min=0)
+                        pownextPhi = (nextPhi[:num] * nextPhi[:num] - nextAutopow).sum(0).clip(min=0)
                     else:
-                        pownextPhi = (nextPhi[:num]*nextPhi[:num]).sum(0)                 
+                        pownextPhi = (nextPhi[:num] * nextPhi[:num]).sum(0)
                     # print(f"total signal power: {powPhi.sum()}")
-                    if pownextPhi.sum() < powPhi.sum(): # stopping criterion
-                        Gamma[:num,imax] += self.damp*Phi[:num,imax]
-                        Gamma_autopow[:num,imax] = autopow[:num,imax].copy()
-                        Phi=nextPhi
-                        autopow=nextAutopow
+                    if pownextPhi.sum() < powPhi.sum():  # stopping criterion
+                        Gamma[:num, imax] += self.damp * Phi[:num, imax]
+                        Gamma_autopow[:num, imax] = autopow[:num, imax].copy()
+                        Phi = nextPhi
+                        autopow = nextAutopow
                         # print(f"clean max: {L_p((Gamma**2).sum(0)/num).max()} dB")
                         J += 1
                     else:
                         break
                 if 'Sq' not in self.__class__.__name__:
                     yield Gamma[:num]
-                elif self.r_diag: 
-                    yield Gamma[:num]**2 - (self.damp**2)*Gamma_autopow[:num]
+                elif self.r_diag:
+                    yield Gamma[:num] ** 2 - (self.damp**2) * Gamma_autopow[:num]
                 else:
-                    yield Gamma[:num]**2
+                    yield Gamma[:num] ** 2
             self.bufferIndex += num
             try:
                 next(fill_buffer_generator)
-            except: 
+            except:
                 dflag = False
-                pass
 
-    def delay_and_sum(self,num,p_res,d_interp2,d_index,amp): 
-        ''' standard delay-and-sum method ''' 
-        if self.precision==64:
-            fdtype = float64
-        else:
-            fdtype = float32
-        result = empty((num, self.grid.size), dtype=fdtype) # output array
-        autopow = empty((num, self.grid.size), dtype=fdtype) # output array
+    def delay_and_sum(self, num, p_res, d_interp2, d_index, amp):
+        """Standard delay-and-sum method."""
+        fdtype = float64 if self.precision == 64 else float32
+        result = empty((num, self.grid.size), dtype=fdtype)  # output array
+        autopow = empty((num, self.grid.size), dtype=fdtype)  # output array
         _delayandsum5(p_res, d_index, d_interp2, amp, result, autopow)
-        return result, autopow          
-  
-        
-class BeamformerTimeSqTraj( BeamformerTimeSq, BeamformerTimeTraj ):
-    """
-    Provides a time domain beamformer with time-dependent
+        return result, autopow
+
+
+class BeamformerTimeSqTraj(BeamformerTimeSq, BeamformerTimeTraj):
+    """Provides a time domain beamformer with time-dependent
     power signal output and possible autopower removal
     for a grid moving along a trajectory.
     """
-    
+
     # internal identifier
-    digest = Property( 
-        depends_on = ['_steer_obj.digest', 'source.digest', 'r_diag', 'weights', 'precision',\
-                      'rvec','conv_amp','trajectory.digest', '__class__'], 
-        )
+    digest = Property(
+        depends_on=[
+            '_steer_obj.digest',
+            'source.digest',
+            'r_diag',
+            'weights',
+            'precision',
+            'rvec',
+            'conv_amp',
+            'trajectory.digest',
+            '__class__',
+        ],
+    )
 
     @cached_property
-    def _get_digest( self ):
+    def _get_digest(self):
         return digest(self)
-                               
 
-class BeamformerCleant( BeamformerTime ):
-    """
-    CLEANT deconvolution method, see :ref:`Cousson et al., 2019<Cousson2019>`.
-    
-    An implementation of the CLEAN method in time domain. This class can only 
+
+class BeamformerCleant(BeamformerTime):
+    """CLEANT deconvolution method, see :ref:`Cousson et al., 2019<Cousson2019>`.
+
+    An implementation of the CLEAN method in time domain. This class can only
     be used for static sources.
     """
 
     #: Boolean flag, always False
-    r_diag = Enum(False, 
-                  desc="False, as we do not remove autopower in this beamformer")
+    r_diag = Enum(False, desc='False, as we do not remove autopower in this beamformer')
 
-    #: iteration damping factor also referred as loop gain in Cousson et al. 
+    #: iteration damping factor also referred as loop gain in Cousson et al.
     #: defaults to 0.6
-    damp = Range(0.01, 1.0, 0.6, 
-        desc="damping factor (loop gain)")
+    damp = Range(0.01, 1.0, 0.6, desc='damping factor (loop gain)')
 
     #: max number of iterations
-    n_iter = Int(100, 
-        desc="maximum number of iterations")
-     
+    n_iter = Int(100, desc='maximum number of iterations')
+
     # internal identifier
-    digest = Property( 
-        depends_on = ['_steer_obj.digest', 'source.digest', 'weights',  \
-                      '__class__','damp','n_iter'],
-        )
+    digest = Property(
+        depends_on=['_steer_obj.digest', 'source.digest', 'weights', '__class__', 'damp', 'n_iter'],
+    )
 
     @cached_property
-    def _get_digest( self ):
+    def _get_digest(self):
         return digest(self)
 
 
-class BeamformerCleantSq( BeamformerCleant ):
-    """
-    CLEANT deconvolution method, see :ref:`Cousson et al., 2019<Cousson2019>`
+class BeamformerCleantSq(BeamformerCleant):
+    """CLEANT deconvolution method, see :ref:`Cousson et al., 2019<Cousson2019>`
     with optional removal of autocorrelation.
-    
-    An implementation of the CLEAN method in time domain. This class can only 
+
+    An implementation of the CLEAN method in time domain. This class can only
     be used for static sources.
     """
 
     #: Boolean flag, if 'True' (default), the main diagonal is removed before beamforming.
-    r_diag = Bool(True, 
-        desc="removal of diagonal")
+    r_diag = Bool(True, desc='removal of diagonal')
 
     # internal identifier
-    digest = Property( 
-        depends_on = ['_steer_obj.digest', 'source.digest', 'weights',  \
-                      '__class__','damp','n_iter','r_diag'],
-        )
+    digest = Property(
+        depends_on=['_steer_obj.digest', 'source.digest', 'weights', '__class__', 'damp', 'n_iter', 'r_diag'],
+    )
 
     @cached_property
-    def _get_digest( self ):
+    def _get_digest(self):
         return digest(self)
-    
-    
 
-class BeamformerCleantTraj( BeamformerCleant, BeamformerTimeTraj ):
-    """
-    CLEANT deconvolution method, see :ref:`Cousson et al., 2019<Cousson2019>`.
-    
+
+class BeamformerCleantTraj(BeamformerCleant, BeamformerTimeTraj):
+    """CLEANT deconvolution method, see :ref:`Cousson et al., 2019<Cousson2019>`.
+
     An implementation of the CLEAN method in time domain for moving sources
-    with known trajectory. 
+    with known trajectory.
     """
+
     #: Floating point and integer precision
-    precision = Trait(32, [32,64], 
-        desc="numeric precision")
+    precision = Trait(32, [32, 64], desc='numeric precision')
 
     # internal identifier
-    digest = Property( 
-        depends_on = ['_steer_obj.digest', 'source.digest', 'weights', 'precision', \
-                      '__class__','damp','n_iter', 'rvec','conv_amp',
-                      'trajectory.digest'],
-        )
+    digest = Property(
+        depends_on=[
+            '_steer_obj.digest',
+            'source.digest',
+            'weights',
+            'precision',
+            '__class__',
+            'damp',
+            'n_iter',
+            'rvec',
+            'conv_amp',
+            'trajectory.digest',
+        ],
+    )
 
     @cached_property
-    def _get_digest( self ):
+    def _get_digest(self):
         return digest(self)
-    
 
-class BeamformerCleantSqTraj( BeamformerCleantTraj, BeamformerTimeSq ):
-    """
-    CLEANT deconvolution method, see :ref:`Cousson et al., 2019<Cousson2019>`
+
+class BeamformerCleantSqTraj(BeamformerCleantTraj, BeamformerTimeSq):
+    """CLEANT deconvolution method, see :ref:`Cousson et al., 2019<Cousson2019>`
     with optional removal of autocorrelation.
-    
+
     An implementation of the CLEAN method in time domain for moving sources
-    with known trajectory. 
+    with known trajectory.
     """
 
     #: Boolean flag, if 'True' (default), the main diagonal is removed before beamforming.
-    r_diag = Bool(True, 
-        desc="removal of diagonal")
+    r_diag = Bool(True, desc='removal of diagonal')
 
     # internal identifier
-    digest = Property( 
-        depends_on = ['_steer_obj.digest', 'source.digest', 'weights', 'precision', \
-                      '__class__','damp','n_iter', 'rvec','conv_amp',
-                      'trajectory.digest','r_diag'],
-        )
+    digest = Property(
+        depends_on=[
+            '_steer_obj.digest',
+            'source.digest',
+            'weights',
+            'precision',
+            '__class__',
+            'damp',
+            'n_iter',
+            'rvec',
+            'conv_amp',
+            'trajectory.digest',
+            'r_diag',
+        ],
+    )
 
     @cached_property
-    def _get_digest( self ):
+    def _get_digest(self):
         return digest(self)
-    
 
-class IntegratorSectorTime( TimeInOut ):
-    """
-    Provides an Integrator in the time domain.
-    """
+
+class IntegratorSectorTime(TimeInOut):
+    """Provides an Integrator in the time domain."""
 
     #: :class:`~acoular.grids.RectGrid` object that provides the grid locations.
-    grid = Trait(RectGrid, 
-        desc="beamforming grid")
-        
+    grid = Trait(RectGrid, desc='beamforming grid')
+
     #: List of sectors in grid
     sectors = List()
 
@@ -762,51 +765,49 @@ class IntegratorSectorTime( TimeInOut ):
     clip = Float(-350.0)
 
     #: Number of channels in output (= number of sectors).
-    numchannels = Property( depends_on = ['sectors', ])
+    numchannels = Property(depends_on=['sectors'])
 
     # internal identifier
-    digest = Property( 
-        depends_on = ['sectors', 'clip', 'grid.digest', 'source.digest', \
-        '__class__'], 
-        )
+    digest = Property(
+        depends_on=['sectors', 'clip', 'grid.digest', 'source.digest', '__class__'],
+    )
 
     @cached_property
-    def _get_digest( self ):
+    def _get_digest(self):
         return digest(self)
-        
+
     @cached_property
-    def _get_numchannels ( self ):
+    def _get_numchannels(self):
         return len(self.sectors)
 
-    def result( self, num=1 ):
-        """
-        Python generator that yields the source output integrated over the given 
+    def result(self, num=1):
+        """Python generator that yields the source output integrated over the given
         sectors, block-wise.
-        
+
         Parameters
         ----------
         num : integer, defaults to 1
             This parameter defines the size of the blocks to be yielded
             (i.e. the number of samples per block).
-        
+
         Returns
         -------
-        Samples in blocks of shape (num, :attr:`numchannels`). 
+        Samples in blocks of shape (num, :attr:`numchannels`).
         :attr:`numchannels` is the number of sectors.
         The last block may be shorter than num.
+
         """
         inds = [self.grid.indices(*sector) for sector in self.sectors]
         gshape = self.grid.shape
-        o = empty((num, self.numchannels), dtype=float) # output array
+        o = empty((num, self.numchannels), dtype=float)  # output array
         for r in self.source.result(num):
             ns = r.shape[0]
             mapshape = (ns,) + gshape
             rmax = r.max()
-            rmin = rmax * 10**(self.clip/10.0)
-            r = where(r>rmin, r, 0.0)
-            i = 0
-            for ind in inds:
-                h = r[:].reshape(mapshape)[ (s_[:],) + ind ]
+            rmin = rmax * 10 ** (self.clip / 10.0)
+            r = where(r > rmin, r, 0.0)
+            for i, ind in enumerate(inds):
+                h = r[:].reshape(mapshape)[(s_[:],) + ind]
                 o[:ns, i] = h.reshape(h.shape[0], -1).sum(axis=1)
                 i += 1
-            yield o[:ns]
+            yield o[:ns]