Ejemplo n.º 1
0
 def get_vertical(self):
     """
     Return a vector corresponding to the up vector in the vehicle. Determined from calculated
      metrics file. Normalize it to unit length to be safe.
     """
     if self._up_vector is None:
         try:
             self._up_vector, _, _ = tba.get_up_vector()
             logging.debug("Used up vector based on ComputedValues.xml from GME assembly")
         except ValueError:
             wrn = """
                   WARNING: Requires a known vector pointing up. Hard-coded value is (0,1,0),
                   implying that the up direction lies along y axis.
                   """
             self._up_vector = np.array([0, 1, 0])
             logging.warning(wrn)
     self._up_vector /= np.linalg.norm(self._up_vector)
     return self._up_vector
Ejemplo n.º 2
0
 def get_vertical(self):
     """
     Return a vector corresponding to the up vector in the vehicle. Determined from calculated
      metrics file. Normalize it to unit length to be safe.
     """
     if self._up_vector is None:
         try:
             self._up_vector, _, _ = tba.get_up_vector()
             logging.debug(
                 "Used up vector based on ComputedValues.xml from GME assembly"
             )
         except ValueError:
             wrn = """
                   WARNING: Requires a known vector pointing up. Hard-coded value is (0,1,0),
                   implying that the up direction lies along y axis.
                   """
             self._up_vector = np.array([0, 1, 0])
             logging.warning(wrn)
     self._up_vector /= np.linalg.norm(self._up_vector)
     return self._up_vector
Ejemplo n.º 3
0
    def __init__(self, settings):
        """
        Setup vehicle metrics based on settings read in from file.
        """
        ## Essential test bench settings
        self.output_json_file = settings["output_json_file"]

        ##testbench specific settings
        transport_dimensions = settings["transport_dimensions"]
        self.up_direction = settings.get("up_direction", np.array([0, 1.0, 0]))
        self.fore_direction = settings.get("fore_direction",
                                           np.array([0, 0, 1.0]))
        self.ground = settings.get("ground", np.array([0, 1.0, 0]))
        self.curb_mass = tba.get_veh_mass()
        self.cent_grav = tba.get_veh_cg()

        try:
            self.up_direction, self.ground_plane, _ = tba.get_up_vector()
        except:
            self.up_direction = settings.get("up_direction",
                                             np.array([0, 1.0, 0]))

        trans_data = tba.get_data(parts_of_interest)

        ## Define dictionaries for each lifting and tie down class
        self.eye_weld = {}
        self.eye_bolt = {}
        self.ring_hoist = {}
        self.d_ring = {}
        self.dbar_weld = {}
        self.dbar_bolt = {}
        self.dbar_eye = {}
        self.pintle = {}
        self.cleat = {}

        self.eye_weld = trans_data[
            "Eye_Welded"]  # TODO: does this crash on empty list?
        self.eye_bolt = trans_data["Eye_Bolted"]
        self.ring_hoist = trans_data["Ring_Hoist"]
        self.d_ring = trans_data["D_Ring_Lashing"]
        self.pintle = trans_data["Pintle_Tow"]
        self.cleat = trans_data["Cleat_Mooring"]
        self.dbar_weld = trans_data["Drawbar_Welded"]
        self.dbar_bolt = trans_data["Drawbar_Bolted"]
        self.dbar_eye = trans_data["Drawbar_Eyebolt"]

        ## Define set of classes to get geometry for
        all_class_set = tba.get_all_geom_set()
        ## Class sets and geometry for approach angles
        class_set = all_class_set - tba.geom_sets["never_exterior_classes"] - \
                    {"Roadwheel",
                     "Trailing_Arm_Hydropneumatic_Rh",
                     "Trailing_Arm_Hydropneumatic_Lh",
                     "Track",
                     "Sprocket_And_Carrier_Drive",
                     "Wheel_Idler"}
        surface = tba.load_geometry(class_set, single_file=True)

        self.surface_coords = np.vstack(
            [surface["x"], surface["y"], surface["z"]]).T

        wheel_set = {"Roadwheel", "Sprocket_And_Carrier_Drive", "Wheel_Idler"}
        wheels = tba.load_geometry(wheel_set, single_file=True)

        track_set = {"Track"}
        track = tba.load_geometry(track_set, single_file=True)

        ## Class set and geometry for container fitting
        trans_class_set = all_class_set
        trans_geom = tba.load_geometry(trans_class_set, single_file=True)

        ## Class sets and geometry for lift eyes and tie_downs
        lift_set = {"Eye_Welded"}
        tie_down_set = {"Ring_Hoist"}

        lift_geom = tba.load_geometry(lift_set, single_file=True)
        tie_down_geom = tba.load_geometry(tie_down_set, single_file=True)

        self.trans_dict = vehicle_fit(surface, self.up_direction,
                                      self.fore_direction,
                                      transport_dimensions)

        self.trans_dict["Lifting_Metrics"] = self.lifting_metrics()
        self.trans_dict["Tie_Down_Metrics"] = self.tie_down_metrics()

        self.trans_dict["Approach_Angles"] = approach_angles(
            surface, wheels, track)

        pintle_count = len(self.pintle)

        cleat_count = len(self.cleat)

        tow_count = len(self.eye_bolt) + len(self.eye_weld) + len(self.dbar_bolt) + \
                    len(self.dbar_eye) + len(self.dbar_weld) + len(self.pintle)
        lift_count = len(self.eye_bolt) + len(self.eye_weld)

        self.trans_dict["Count_for_components_in_towing_class"] = tow_count
        self.trans_dict["Count_for_components_in_lifting_class"] = lift_count
        self.trans_dict["Count_for_components_in_pintle_class"] = pintle_count
        self.trans_dict["Count_for_components_in_mooring_class"] = cleat_count

        plot_vehicle(trans_geom, transport_dimensions)

        plot_lift_tie_down(trans_geom, lift_geom, tie_down_geom)

        tba.write_results(self.trans_dict)
Ejemplo n.º 4
0
    def __init__(self, settings):
        """
        Setup vehicle metrics based on settings read in from file.
        """
        ## Essential test bench settings
        self.output_json_file = settings["output_json_file"]

        ##testbench specific settings
        transport_dimensions = settings["transport_dimensions"]
        self.up_direction = settings.get("up_direction", np.array([0, 1.0, 0]))
        self.fore_direction = settings.get("fore_direction", np.array([0, 0, 1.0]))
        self.ground = settings.get("ground", np.array([0, 1.0, 0]))
        self.curb_mass = tba.get_veh_mass()
        self.cent_grav = tba.get_veh_cg()

        try:
            self.up_direction, self.ground_plane, _ = tba.get_up_vector()
        except:
            self.up_direction = settings.get("up_direction", np.array([0, 1.0, 0]))

        trans_data = tba.get_data(parts_of_interest)

        ## Define dictionaries for each lifting and tie down class
        self.eye_weld = {}
        self.eye_bolt = {}
        self.ring_hoist = {}
        self.d_ring = {}
        self.dbar_weld = {}
        self.dbar_bolt = {}
        self.dbar_eye = {}
        self.pintle = {}
        self.cleat = {}

        self.eye_weld = trans_data["Eye_Welded"]  # TODO: does this crash on empty list?
        self.eye_bolt = trans_data["Eye_Bolted"]
        self.ring_hoist = trans_data["Ring_Hoist"]
        self.d_ring = trans_data["D_Ring_Lashing"]
        self.pintle = trans_data["Pintle_Tow"]
        self.cleat = trans_data["Cleat_Mooring"]
        self.dbar_weld = trans_data["Drawbar_Welded"]
        self.dbar_bolt = trans_data["Drawbar_Bolted"]
        self.dbar_eye = trans_data["Drawbar_Eyebolt"]

        ## Define set of classes to get geometry for
        all_class_set = tba.get_all_geom_set()
        ## Class sets and geometry for approach angles
        class_set = all_class_set - tba.geom_sets["never_exterior_classes"] - \
                    {"Roadwheel",
                     "Trailing_Arm_Hydropneumatic_Rh",
                     "Trailing_Arm_Hydropneumatic_Lh",
                     "Track",
                     "Sprocket_And_Carrier_Drive",
                     "Wheel_Idler"}
        surface = tba.load_geometry(class_set, single_file=True)

        self.surface_coords = np.vstack([surface["x"], surface["y"], surface["z"]]).T

        wheel_set = {"Roadwheel", "Sprocket_And_Carrier_Drive", "Wheel_Idler"}
        wheels = tba.load_geometry(wheel_set, single_file=True)

        track_set = {"Track"}
        track = tba.load_geometry(track_set, single_file=True)

        ## Class set and geometry for container fitting
        trans_class_set = all_class_set
        trans_geom = tba.load_geometry(trans_class_set, single_file=True)

        ## Class sets and geometry for lift eyes and tie_downs
        lift_set = {"Eye_Welded"}
        tie_down_set = {"Ring_Hoist"}

        lift_geom = tba.load_geometry(lift_set, single_file=True)
        tie_down_geom = tba.load_geometry(tie_down_set, single_file=True)

        self.trans_dict = vehicle_fit(surface,
                                      self.up_direction,
                                      self.fore_direction,
                                      transport_dimensions)

        self.trans_dict["Lifting_Metrics"] = self.lifting_metrics()
        self.trans_dict["Tie_Down_Metrics"] = self.tie_down_metrics()

        self.trans_dict["Approach_Angles"] = approach_angles(surface, wheels, track)

        pintle_count = len(self.pintle)

        cleat_count = len(self.cleat)

        tow_count = len(self.eye_bolt) + len(self.eye_weld) + len(self.dbar_bolt) + \
                    len(self.dbar_eye) + len(self.dbar_weld) + len(self.pintle)
        lift_count = len(self.eye_bolt) + len(self.eye_weld)

        self.trans_dict["Count_for_components_in_towing_class"] = tow_count
        self.trans_dict["Count_for_components_in_lifting_class"] = lift_count
        self.trans_dict["Count_for_components_in_pintle_class"] = pintle_count
        self.trans_dict["Count_for_components_in_mooring_class"] = cleat_count

        plot_vehicle(trans_geom, transport_dimensions)

        plot_lift_tie_down(trans_geom, lift_geom, tie_down_geom)

        tba.write_results(self.trans_dict)