cgse-coordinates 0.17.2__py3-none-any.whl → 0.17.4__py3-none-any.whl

egse/coordinates/cslmodel.py

@@ -8,8 +8,7 @@ Those methods start with the name `hexapod_`, e.g. `hexapod_goto_zero_position()
 
 """
 
-from typing import List
-
+import numpy as np
 from egse.coordinates.refmodel import ReferenceFrameModel
 
 HEXUSR = "hexusr"
@@ -21,107 +20,99 @@ HEXOBUSR = "hexobusr"
 
 class CSLReferenceFrameModel(ReferenceFrameModel):
     """
-    The CSL Reference Frame Model is a specific reference model that adds convenience methods
-    for manipulating the Hexapod PUNA which is part of the overall CSL Setup.
+    The CSL reference Frame Model is a specific reference model that adds convenience methods for manipulating the
+    Hexapod PUNA which is part of the overall CSL Setup.
     """
 
     _DEGREES_DEFAULT = ReferenceFrameModel._DEGREES_DEFAULT
 
-    def _create_obusr(self):
+    def _create_obusr(self) -> None:
+        """Creates the Object User Reference Frame if it does not exist yet."""
+
         if HEXOBUSR in self:
             return
 
         hexusr = self.get_frame(HEXUSR)
         hexobj = self.get_frame(HEXOBJ)
 
-        transformation = hexusr.getActiveTransformationTo(hexobj)
+        transformation = hexusr.get_active_transformation_to(hexobj)
 
-        self.add_frame(HEXOBUSR, transformation=transformation, ref=HEXUSR)
+        self.add_frame(HEXOBUSR, transformation=transformation, reference=HEXUSR)
         self.add_link(HEXOBUSR, HEXOBJ)
 
-    def hexapod_move_absolute(self, translation, rotation, degrees=_DEGREES_DEFAULT):
-        """
-        Move/define the Object Coordinate System position and orientation expressed
-        in the invariant user coordinate system.
+    def hexapod_move_absolute(self, translation: np.ndarray, rotation: np.ndarray, degrees: bool = _DEGREES_DEFAULT):
+        """Moves/defines the Object Coordinate System expressed in the invariant User Coordinate System.
 
-        The rotation centre coincides with the Object Coordinates System origin and
-        the movements are controlled with translation components at first (Tx, Ty, tZ)
-        and then the rotation components (Rx, Ry, Rz).
+        The rotation centre coincides with the Object Coordinates System origin and the movements are controlled with
+        translation components first (Tx, Ty, tZ) and then the rotation components (Rx, Ry, Rz).
 
         Args:
-            translation: the translation vector
-            rotation: the rotation vector
-            degrees: use degrees [default: True]
+            translation (np.ndarray): Translation vector.
+            rotation (np.ndarray): Rotation vector.
+            degrees (bool): Indicates whether the rotation angles are specified in degrees, rather than radians.
         """
 
         self.move_absolute_self(HEXOBUSR, translation, rotation, degrees=degrees)
 
-    def hexapod_move_relative_object(self, translation, rotation, degrees=_DEGREES_DEFAULT):
-        """
-        Hexapod Command:
-            Move the object relative to its current object position and orientation.
+    def hexapod_move_relative_object(
+        self, translation: np.ndarray, rotation: np.ndarray, degrees: bool = _DEGREES_DEFAULT
+    ):
+        """Moves the object relative to its current position and orientation
 
         The relative movement is expressed in the object coordinate system.
 
         Args:
-            translation: the translation vector
-            rotation: the rotation vector
-            degrees: use degrees [default: True]
+            translation (np.ndarray): Translation vector.
+            rotation (np.ndarray): Rotation vector.
+            degrees (bool): Indicates whether the rotation angles are specified in degrees, rather than radians.
         """
 
         self.move_relative_self(HEXOBJ, translation, rotation, degrees=degrees)
 
-    def hexapod_move_relative_user(self, translation, rotation, degrees=_DEGREES_DEFAULT):
-        """
-        Hexapod Command:
-            Move the object relative to its current object position and orientation.
+    def hexapod_move_relative_user(
+        self, translation: np.ndarray, rotation: np.ndarray, degrees: bool = _DEGREES_DEFAULT
+    ) -> None:
+        """Moves the object relative to its current object position and orientation.
 
         The relative movement is expressed in the (invariant) user coordinate system.
 
         Args:
-            translation: the translation vector
-            rotation: the rotation vector
-            degrees: use degrees [default: True]
+            translation (np.ndarray): Translation vector.
+            rotation (np.ndarray): Rotation vector.
+            degrees (bool): Indicates whether the rotation angles are specified in degrees, rather than radians.
         """
 
         self.move_relative_other_local(HEXOBJ, HEXUSR, translation, rotation, degrees=degrees)
 
     def hexapod_configure_coordinates(
         self,
-        usr_trans: List[float],
-        usr_rot: List[float],
-        obj_trans: List[float],
-        obj_rot: List[float],
-    ):
-        """
-        Change the definition of the User Coordinate System and the Object Coordinate System in
-        the Hexapod.
-
-        The parameters tx_u, ty_u, tz_u, rx_u, ry_u, rz_u are used to define the user coordinate
-        system
-        relative to the Machine Coordinate System and the parameters tx_o, ty_o, tz_o, rx_o,
-        ry_o, rz_o
-        are used to define the Object Coordinate System relative to the Platform Coordinate System.
+        usr_trans: np.ndarray,
+        usr_rot: np.ndarray,
+        obj_trans: np.ndarray,
+        obj_rot: np.ndarray,
+    ) -> None:
+        """Changes the definition of the User Coordinate System and the Object Coordinate System in the hexapod.
 
+        Args:
+            usr_trans (np.ndarray): Translation vector used to define the User Coordinate System relative to the Machine Coordinate System.
+            usr_rot (np.ndarray): Rotation vector used to define the User Coordinate System relative to the Machine Coordinate System.
+            obj_trans (np.ndarray): Translation vector used to define the Object Coordinate System relative to the Platform Coordinate System.
+            obj_rot (np.ndarray): Rotation vector used to define the Object Coordinate System relative to the Platoform Coordinate System.
         """
 
         self.remove_link(HEXUSR, HEXMEC)
         self.remove_link(HEXOBJ, HEXPLT)
-        self.get_frame(HEXUSR).setTranslationRotation(usr_trans, usr_rot)
-        self.get_frame(HEXOBJ).setTranslationRotation(obj_trans, obj_rot)
+        self.get_frame(HEXUSR).set_translation_rotation(usr_trans, usr_rot)
+        self.get_frame(HEXOBJ).set_translation_rotation(obj_trans, obj_rot)
         self.add_link(HEXUSR, HEXMEC)
         self.add_link(HEXOBJ, HEXPLT)
 
-    def hexapod_goto_zero_position(self):
-        """
-        Ask the hexapod to go to the zero position.
-        """
+    def hexapod_goto_zero_position(self) -> None:
+        """Instructs the hexapod to go to its zero position"""
 
-        self.move_absolute_self(HEXPLT, translation=[0, 0, 0], rotation=[0, 0, 0])
+        self.move_absolute_self(HEXPLT, translation=np.array([0, 0, 0]), rotation=np.array([0, 0, 0]))
 
-    def hexapod_goto_retracted_position(self):
-        """
-        Ask the hexapod to go to its retracted position.
-        """
+    def hexapod_goto_retracted_position(self) -> None:
+        """Instructs the hexapod to go to its retracted position."""
 
-        self.move_absolute_self(HEXPLT, translation=[0, 0, -20], rotation=[0, 0, 0])
+        self.move_absolute_self(HEXPLT, translation=np.array([0, 0, -20]), rotation=np.array([0, 0, 0]))

egse/coordinates/laser_tracker_to_dict.py

@@ -1,28 +1,15 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-Created on Sat Oct  3 11:53:23 2020
-
-@author: pierre
-"""
-
 import sys
 import pandas
 
 from egse.setup import Setup
 
 
-def laser_tracker_to_dict(filexls, setup: Setup):
-    """
-    laser_tracker_to_dict(filexls)
-
-    INPUT
-
-    filexls : CSL - provided excell file (from a laser tracker)
-
-    OUTPUT
+def laser_tracker_to_dict(file_xls: str, setup: Setup):
+    """Reads the laser tracker file and returns a dictionary of reference frames.
 
-    dictionary compatible with egse.coordinates.dict_to_ref_model
+    Args:
+        file_xls (str): Path to the laser tracker file.  This is an excell sheet provided by CSL.
+        setup (Setup): Setup object containing the default reference frames.
 
     Known Features:
         - no link can be included:
@@ -37,6 +24,8 @@ def laser_tracker_to_dict(filexls, setup: Setup):
         - the names of the reference frames are returned lowercase, without '_'
           ("Master" is an exception)
 
+    Returns:
+        Dictionary of reference frames compatible with egse.coordinates.dict_to_ref_model.
     """
 
     # Predefined model -- gliso ~ master
@@ -72,22 +61,24 @@ def laser_tracker_to_dict(filexls, setup: Setup):
 
     # Read input file
 
-    pan = pandas.read_excel(filexls, sheet_name="Data", usecols="A:D", names=["desc", "x", "y", "z"])
+    pan = pandas.read_excel(file_xls, sheet_name="Data", usecols="A:D", names=["desc", "x", "y", "z"])
 
-    nrows = pan.shape[0]
+    num_rows = pan.shape[0]
 
     desc = pan["desc"].values
     colx = pan["x"].values
     coly = pan["y"].values
     colz = pan["z"].values
 
-    refFrames = dict()
-    refFrames["Master"] = "ReferenceFrame//([0.0000,0.0000,0.0000 | [0.0000,0.0000,0.0000 | Master | Master | [])"
+    reference_frames = dict()
+    reference_frames["Master"] = (
+        "ReferenceFrame//([0.0000,0.0000,0.0000 | [0.0000,0.0000,0.0000 | Master | Master | [])"
+    )
 
     links = "[]"
 
     i, frame = -1, -1
-    while i < nrows:
+    while i < num_rows:
         i += 1
 
         try:
@@ -111,10 +102,10 @@ def laser_tracker_to_dict(filexls, setup: Setup):
                 else:
                     ref = "None"
 
-                refFrames[name] = f"ReferenceFrame//({translation} | {rotation} | {name} | {ref} | {links})"
+                reference_frames[name] = f"ReferenceFrame//({translation} | {rotation} | {name} | {ref} | {links})"
 
             except:
                 print(f"Frame extraction issue after row {i} : {desc[i]}")
                 print(sys.exc_info())
 
-    return refFrames
+    return reference_frames