def __init__(self):
super(Array, self).__init__()
# Define hydrophones
self.hydrophones = Phys_Obj()
# Define Pinger_Contours
self.pinger_contours = []
# Define unknown variables
self.last_known_pinger_location = None
self.last_known_pinger_direction = None
class Array(Phys_Obj):
# Always mind the coordinate axes!
#
# z y
# ^ 7
# | /
# | /
# |/
# - - - - - - > x
#
# ...z represents the vertical axis (gravity acts in
# this direction. y represents the forward direction of
# the array. As shown, the frame (a.k.a. coordinate axes)
# are fixed to the array such the if the array rotates, then
# the frame will rotate the same amount.
def __init__(self):
super(Array, self).__init__()
# Define hydrophones
self.hydrophones = Phys_Obj()
# Define Pinger_Contours
self.pinger_contours = []
# Define unknown variables
self.last_known_pinger_location = None
self.last_known_pinger_direction = None
def define(self, locations):
"""Specify the hydrophone configuration by passing an Nx3 numpy
array, where each row is an XYZ coordinate representing a coordinate
location of a hydrophone with respect to the array origin.
"""
self.hydrophones.set_XYZ(XYZ=locations)
# Generate immediate parameters
self.n_elements = locations.shape[0]
# Make a list of all relative hydrophone locations
self.element_pos = locations
# Enumerate all pair combinations
self.pairs = [
ID for ID in itertools.combinations(range(self.n_elements), 2)
]
# compute pair properties
self.d = []
self.COM = []
self.d_vect = []
self.norm_uvect = []
self.pair_y_rot = []
for (ID0, ID1) in self.pairs:
# General basic paremeters
l0 = self.element_pos[ID0]
l1 = self.element_pos[ID1]
# compute vectorized distance between pairs
d_vect = l1 - l0
self.d_vect.append(d_vect)
# absolute distance between each pair
self.d.append(np.linalg.norm(l0 - l1))
# determine center of mass for each pair
self.COM.append(l0 + (l1 - l0) / 2)
# Get nNormal for each pair (assuming each pair rests on
# the z = 0 plane).
norm_vect = np.array([[-d_vect[1], d_vect[0], 0]])
norm_uvect = norm_vect / np.linalg.norm(norm_vect)
self.norm_uvect.append(norm_uvect)
# Get y_based rotation
abs_y_rot = np.arccos(np.dot(norm_vect[0], K_HAT[0]) / np.linalg.norm(norm_vect)) # [0] is ugly syntax to yield a 1D vector
if (norm_uvect[DIM1, 0] < 0):
y_rot = -abs_y_rot
else:
y_rot = abs_y_rot
self.pair_y_rot.append(y_rot)
def compute_D1minusD2(self, Dx):
self.ddoa = []
for (ID_a, ID_b) in self.pairs:
ddoa = Dx[ID_a] - Dx[ID_b]
(self.ddoa).append(ddoa)
def compute_ab_coefficients(self):
n_pairs = len(self.pairs)
i = 0
self.ab = []
for i in range(n_pairs):
ab = dd_to_hyperboloid_coe(self.ddoa[i], self.d[i])
(self.ab).append(ab)
def bulk_compute_ab_from_distances(self, Dx):
self.compute_D1minusD2(Dx)
self.compute_ab_coefficients()
def get_direction(self, doa):
"""
Takes a list of distances of arrival (doa) values corresponding to each
hydrophone element and uses
such information to generate a pinger location
"""
self.bulk_compute_ab_from_distances(doa)
# ^^ Updates self.ddoa and self.ab
self.last_known_pinger_direction = 0
def re_build(self, locations):
self.__init__(locations)
def refresh_data(self):
pass
def print_drawing(self):
pass
