cgse-coordinates 2023.1.0__py3-none-any.whl

egse/coordinates/cslmodel.py

@@ -0,0 +1,127 @@
+"""
+A CSL reference frame model which has knowledge about the CSL Setup, and the PUNA Hexapod model.
+
+The CSL Reference Frame Model incorporates a Hexapod PUNA model which is represented by the
+Reference Frames HEXUSR, HEXOBJ, HEXMEC, and HEXPLT. A number of methods are defined here that
+assume these four reference frames exist in the model and behave like a proper hexapod simulator.
+Those methods start with the name `hexapod_`, e.g. `hexapod_goto_zero_position()`.
+
+"""
+from typing import List
+
+from egse.coordinates.refmodel import ReferenceFrameModel
+
+HEXUSR = "hexusr"
+HEXMEC = "hexmec"
+HEXOBJ = "hexobj"
+HEXPLT = "hexplt"
+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 CSH Setup.
+    """
+
+    _DEGREES_DEFAULT = ReferenceFrameModel._DEGREES_DEFAULT
+
+    def _create_obusr(self):
+
+        if HEXOBUSR in self:
+            return
+
+        hexusr = self.get_frame(HEXUSR)
+        hexobj = self.get_frame(HEXOBJ)
+
+        transformation = hexusr.getActiveTransformationTo(hexobj)
+
+        self.add_frame(HEXOBUSR, transformation=transformation, ref=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.
+
+        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).
+
+        Args:
+            translation: the translation vector
+            rotation: the rotation vector
+            degrees: use degrees [default: True]
+        """
+
+        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.
+
+        The relative movement is expressed in the object coordinate system.
+
+        Args:
+            translation: the translation vector
+            rotation: the rotation vector
+            degrees: use degrees [default: True]
+        """
+
+        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.
+
+        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]
+        """
+
+        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.
+
+        """
+
+        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.add_link(HEXUSR, HEXMEC)
+        self.add_link(HEXOBJ, HEXPLT)
+
+    def hexapod_goto_zero_position(self):
+        """
+        Ask the hexapod to go to the zero position.
+        """
+
+        self.move_absolute_self(HEXPLT, translation=[0, 0, 0], rotation=[0, 0, 0])
+
+    def hexapod_goto_retracted_position(self):
+        """
+        Ask the hexapod to go to its retracted position.
+        """
+
+        self.move_absolute_self(HEXPLT, translation=[0, 0, -20], rotation=[0, 0, 0])

egse/coordinates/laser_tracker_to_dict.py

@@ -0,0 +1,120 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Created on Sat Oct  3 11:53:23 2020
+
+@author: pierre
+"""
+
+import sys
+import pandas
+
+
+def laser_tracker_to_dict(filexls, setup):
+    """
+    laser_tracker_to_dict(filexls)
+
+    INPUT
+    
+    filexls : CSL - provided excell file (from a laser tracker)
+    
+    OUTPUT
+    
+    dictionary compatible with egse.coordinates.dict_to_ref_model
+    
+    Known Features:
+        - no link can be included:
+                the links are not in the xls file
+                hardcoding them would cause trouble when ingesting a partial model
+        - the ReferenceFrames references are included, but they are based
+          on a hardcoded model.
+          In particular it is assumed that gliso is the master!
+          
+        - a "Master" ReferenceFrame is enforced, with the name "Master" (capital)
+
+        - the names of the reference frames are returned lowercase, without '_'
+          ("Master" is an exception)
+
+    """
+    
+    # Predefined model -- gliso ~ master
+    
+    """
+    predef_refs={}
+    predef_refs['gltab']  = 'glfix'
+    predef_refs['glfix']  = 'glrot'
+    predef_refs['glrot']  = 'gliso'
+
+    predef_refs['gliso']  = 'Master'
+    predef_refs['Master'] = 'Master'
+
+    predef_refs['hexiso'] = 'gliso'
+    predef_refs['hexmec'] = 'hexiso'
+    predef_refs['hexplt'] ='hexmec'
+    predef_refs['hexobj'] = 'hexplt'
+    predef_refs['hexobusr'] = 'hexusr'
+    predef_refs['hexusr'] = 'hexmec'
+    predef_refs['fpaaln'] = 'gliso'
+    predef_refs['fpasen'] = 'fpaaln'
+    predef_refs['fpamec'] = 'fpaaln'
+    predef_refs['toumec'] = 'gliso'
+    predef_refs['toul6'] = 'toumec'
+    predef_refs['toualn'] = 'toumec'
+    predef_refs['touopt'] = 'toualn'
+    predef_refs['marialn'] = 'toualn'
+    predef_refs['cammec'] = 'toualn'
+    predef_refs['cambor'] = 'toualn'
+    """
+
+    predef_refs=setup.csl_model.default_refs
+
+    # Read input file
+
+    pan = pandas.read_excel(filexls, sheet_name="Data", usecols="A:D", names=["desc", 'x', 'y', 'z'])
+
+    nrows = pan.shape[0]
+
+    desc = pan["desc"].values
+    colx = pan["x"].values
+    coly = pan["y"].values
+    colz = pan["z"].values
+    
+    refFrames = {}
+    refFrames["Master"] = 'ReferenceFrame//([0.0000,0.0000,0.0000 | [0.0000,0.0000,0.0000 | Master | Master | [])'
+    
+    links = '[]'
+    
+    i,frame = -1,-1
+    while (i<nrows):
+        i += 1
+        
+        try:
+            frame = desc[i].find("Frame")
+        except:
+            frame = -1
+            continue
+    
+        if (frame >= 0):   
+              
+            try:
+              name = desc[i][desc[i].find("::")+2:].lower().replace("_","")
+        
+              if (desc[i+2].lower().find("translation")<0) or (desc[i+3].lower().find('rotation')<0):
+                  raise Exception(f"Unexpected File Structure after row {i} : {desc[i]}")
+
+              translation = f"[{float(colx[i+2]):.6f},{float(coly[i+2]):.6f},{float(colz[i+2]):.6f}"
+              rotation    = f"[{float(colx[i+3]):.6f},{float(coly[i+3]):.6f},{float(colz[i+3]):.6f}"
+            
+              if name in predef_refs.keys():
+                    ref = predef_refs[name]
+              else:
+                    ref = 'None'
+
+              refFrames[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
+