def drawToAnimation(self):
""" Draw. Assuming that the human is standing.
Parameters
----------
"""
listPlanes = []
if self.chair and self.table:
listPlanes.append(self.chair.getPartition(Ps=1))
listPlanes.append(self.table.getPartition(Ps=1))
listPlanes = list(flatten(listPlanes))
alphas = [1 for plane in listPlanes]
fig, ax = draw(xlim=[0, self.room.L],
ylim=[0, self.room.W],
zlim=[0, self.room.H],
planes=listPlanes,
enablevect=False,
alphas=alphas)
fig, ax = draw(figure=fig, axes=ax, vectors=[self.led], colors='blue')
return fig, ax
def draw(self, displayRoom=False, displayReflectivity=False):
""" Draw.
Parameters
----------
displayRoom: bool
displayReflectivity: bool
"""
if displayRoom:
if displayReflectivity:
alphas = [
0.5 * plane.reflectivity for plane in self.listPlanes
]
else:
alphas = [1 for plane in self.listPlanes]
fig, ax = draw(xlim=[0, self.room.L],
ylim=[0, self.room.W],
zlim=[0, self.room.H],
planes=self.listPlanes,
vectors=Vector(coord=self.human.normalVect,
refPoint=self.human.ctrPoint,
which='cartesian'),
enablevect=False,
alphas=alphas)
else:
listPlanes = []
listPlanes.append(self.human.listPlanes)
if self.chair and self.table:
listPlanes.append(self.chair.getPartition(Ps=1))
listPlanes.append(self.table.getPartition(Ps=1))
listPlanes = list(flatten(listPlanes))
if displayReflectivity:
alphas = [0.5 * plane.reflectivity for plane in listPlanes]
else:
alphas = [1 for plane in listPlanes]
fig, ax = draw(xlim=[0, self.room.L],
ylim=[0, self.room.W],
zlim=[0, self.room.H],
planes=listPlanes,
vectors=Vector(coord=self.human.normalVect,
refPoint=self.human.ctrPoint,
which='cartesian'),
enablevect=False,
alphas=alphas)
fig, ax = draw(figure=fig,
axes=ax,
circles=[self.human.pd, self.pd],
scales=5e3,
vectors=[self.human.led, self.led])
return fig, ax
def getPartition(self, Ps=1, delta=None):
planes = []
if delta == None:
planes.append(self.head.getPartition(Ps=Ps))
planes.append(self.body.getPartition(Ps=Ps))
planes.append(self.leg.getPartition(Ps=Ps))
else:
if delta > 0.15:
delta = 0.15
planes.append(self.head.getPartition(delta=delta))
planes.append(self.body.getPartition(delta=delta))
planes.append(self.leg.getPartition(delta=delta))
planes = list(flatten(planes))
return planes
def getPartition(self, Ps=1, delta=None):
""" Partition all objects.
Parameters
----------
Ps: list
List of number of partition of each side.
delta: list
Define the partition based on partition lengths
Returns
-------
list:
A list of partitioned planes. Each plane is an instant of
RectPlane_py.
"""
planes = []
if delta == None:
planes.append(self.head.getPartition(Ps=Ps))
planes.append(self.body.getPartition(Ps=Ps))
if self.leg:
planes.append(self.leg.getPartition(Ps=Ps))
if self.chair:
planes.append(self.chair.getPartition(Ps=Ps))
if self.table:
planes.append(self.table.getPartition(Ps=Ps))
else:
if delta > 0.15:
delta = 0.15
planes.append(self.head.getPartition(delta=delta))
planes.append(self.body.getPartition(delta=delta))
if self.leg:
planes.append(self.leg.getPartition(delta=delta))
if self.chair:
planes.append(self.chair.getPartition(delta=delta))
if self.table:
planes.append(self.table.getPartition(delta=delta))
planes = list(flatten(planes))
return planes
def calc(self,
LEDs,
PDs,
blockingObj,
reflectingObj,
partitionDist=speed_of_light * 1e-9,
numReflections=3,
verbose=False):
""" Calcute the CIR.
Parameters
----------
LEDs: list
List of LEDs. But, currently supports 1 LED.
PDs: list
List of PDs. Currently supports 1 PD.
blockingObj: list
List of blocking objects.
reflectingObj: list
List of reflecting objects, for example a room.
The naming is due to we might need a genera case when
we can do the assumptions of infinite room such that
what matters most are the ceiling and the floor.
Note that the blockingObj will also be treated as a
relfecting object.
partitionDist: double, optional
Delta distance based on which we partition a plane
(the default value is 1ns * c, c: speed of light).
The default value is c*timesampling, timesampling is
assumed to 1ns by default. See Schulze's paper.
numReflections: inf or integer, optional
Denoting the number of reflections (the default is 3).
"""
# Transform into list
if not isinstance(LEDs, list):
LEDs = [LEDs]
if not isinstance(PDs, list):
PDs = [PDs]
if not isinstance(blockingObj, list):
blockingObj = [blockingObj]
if not isinstance(reflectingObj, list):
reflectingObj = [reflectingObj]
# Currently support 1 LED and 1 PD
assert len(LEDs) == 1 and len(PDs) == 1
# Partition assuming that all obj in reflectingObj
# has the getPartition method
reflectingPlanes = []
for obj in reflectingObj:
reflectingPlanes.append(obj.getPartition(delta=partitionDist))
# don't forget to include blockingObj as reflecting objects
for obj in blockingObj:
reflectingPlanes.append(obj.getPartition(delta=partitionDist))
# flatten the list
reflectingPlanes = list(flatten(reflectingPlanes))
# Partition blockingObj
blockingPlanes = []
for obj in blockingObj:
# The number of partition on each side is one
blockingPlanes.append(obj.getPartition(Ps=1))
blockingPlanes = list(flatten(blockingPlanes))
# Get simple planes
simpleReflectingPlanes = [
plane.getSimplePlane() for plane in reflectingPlanes
]
simpleBlockingPlanes = [
plane.getSimplePlane() for plane in blockingPlanes
]
emitters = [led.getSimplePointSource() for led in LEDs]
collectors = [pd.getSimpleBareDetector() for pd in PDs]
# Get the farthest vertix from origin
dummyPlanes = []
for obj in reflectingObj:
dummyPlanes.append(obj.getPartition(Ps=1))
dummyPlanes = list(flatten(dummyPlanes))
# Assuming each dummyPlane has the vertixes attributes
# Collect all vertices
verts = np.array(list(flatten([plane.verts for plane in dummyPlanes
]))).reshape(-1, 3)
# Calculate norm relative to origin
listOfNorm = list(map(lambda v: np.linalg.norm(v), verts))
outerVert = verts[listOfNorm.index(max(listOfNorm))]
if verbose:
print("> Calculating CIR......(wait)")
self.ht_los, self.ht_diff = calcCIRTimeDom(self.timeSampling,
numReflections, outerVert,
emitters[0], collectors[0],
simpleReflectingPlanes,
simpleBlockingPlanes)
if verbose:
print("> Finish calculating CIR :)")
self.t = np.arange(self.ht_los.size) * self.timeSampling
return self.ht_los, self.ht_diff
def updateListPlanesAndCheckValidity(self):
# Get all planes
self.listPlanes = []
self.listPlanes.append(self.human.listPlanes)
self.listPlanes.append(self.room.listPlanes)
if self.chair and self.table:
self.listPlanes.append(self.chair.getPartition(Ps=1))
self.listPlanes.append(self.table.getPartition(Ps=1))
self.listPlanes = list(flatten(self.listPlanes))
# Get blocking object
self.blockingObj = []
if self.chair:
self.blockingObj.append(self.chair)
if self.table:
self.blockingObj.append(self.table)
if self.human:
self.blockingObj.append(self.human)
# Validate whether a vertice is NOT out of bounds
roomVerts = np.append(self.room.listPlanes[0].verts,
self.room.listPlanes[1].verts).reshape([-1, 3])
delaunay = Delaunay(roomVerts)
verts = np.array(
list(flatten([plane.verts.tolist()
for plane in self.listPlanes]))).reshape([-1, 3])
if self.human.led:
verts = np.append(verts, self.human.led.loc).reshape([-1, 3])
elif self.human.pd:
verts = np.append(verts, self.human.pd.loc).reshape([-1, 3])
# # Check feasibility of human
# verts = np.array(list(flatten([plane.verts.tolist() for plane in self.human.listPlanes]))).reshape([-1,3])
# # Check feasibility of chair
# verts = np.array(list(flatten([plane.verts.tolist() for plane in self.chair.getPartition(Ps=1)]))).reshape([-1,3])
# # Check feasibility of table
# verts = np.array(list(flatten([plane.verts.tolist() for plane in self.table.getPartition(Ps=1)]))).reshape([-1,3])
# # Check feasibility of LED
# verts = self.human.led.loc
# # Check feasibility of PD
# verts = self.human.pd.loc
self.isValid = np.alltrue(delaunay.find_simplex(verts) >= 0)
# Check whether the human intersects with the furniture
if self.chair and self.table:
chairVerts = np.append(self.chair.listPlanes[0].verts,
self.chair.listPlanes[1].verts).reshape(
[-1, 3])
tableVerts = np.append(
self.tableAsCube.listPlanes[0].verts,
self.tableAsCube.listPlanes[1].verts).reshape([-1, 3])
verts = np.array(
list(
flatten([
plane.verts.tolist() for plane in self.human.listPlanes
]))).reshape([-1, 3])
if self.human.led:
verts = np.append(verts, self.human.led.loc).reshape([-1, 3])
elif self.human.pd:
verts = np.append(verts, self.human.pd.loc).reshape([-1, 3])
self.isValid = np.alltrue(
Delaunay(chairVerts).find_simplex(verts) < 0) and np.alltrue(
Delaunay(tableVerts).find_simplex(verts) < 0)
def __init__(self,
roomDim,
humanLoc,
humanDirection,
chairLoc=None,
chairDirection=0,
mode='rx',
activity='calling',
position='standing'):
# Assertion checks
assert len(roomDim) == 3 and np.alltrue(np.array(roomDim) > 0)
assert mode.lower() == 'tx' or mode.lower() == 'rx',\
("'mode' is not recognized! Should be either 'tx' or 'rx'")
assert activity.lower() == 'calling' or activity.lower() == 'reading' or activity.lower() == 'usbdongle',\
("'activity' is not recognized! Should be either 'calling', 'reading' or 'usbdongle'")
assert position.lower() == 'standing' or position.lower() == 'sitting',\
("'mode' is not recognized! Should be either 'standing' or 'sitting'")
assert not(activity.lower() == 'usbdongle' and position.lower()=='standing'),\
("cannot choose the `usbdongle` aciticity and the `standing` position.")
# Human and other elements
self.human = Human(loc=humanLoc,
direction=humanDirection,
mode=mode,
activity=activity,
position=position)
# Room
# Reflectivities
# Except the floor, which is modeled as a pinewood, other
# parts are modeled with plasters
rho_keys = ['b', 't', 's', 'n', 'e', 'w']
if mode.lower() == 'tx':
# IR-LED (uplink)
rho_vals = [0.92, 0.83, 0.83, 0.83, 0.83, 0.83]
elif mode.lower() == 'rx':
# VL-LED (downlink)
rho_vals = [0.54, 0.76, 0.76, 0.76, 0.76, 0.76]
reflectivities = {
rho_keys[i]: rho_vals[i]
for i in range(len(rho_keys))
}
self.room = Room(dimensions=roomDim,
identity=1,
reflectivities=reflectivities)
# A chair and a table
self.chair, self.table, self.tableAsCube = None, None, None
if chairLoc:
self.chair = Cube(Vector(
np.array([1, np.deg2rad(90), np.deg2rad(0)])),
ctrPoint=np.array([0, 0, 0.2]),
dimensions=[0.4, 0.4, 0.4],
reflectivities={
'p0': 0.04,
'p1': 0.04,
'p2': 0.04,
'p3': 0.04,
'p4': 0.04,
'p5': 0.04
})
self.chair = self.chair.rotate(chairDirection, np.array([0, 0, 1]))
self.chair = self.chair.translate(
np.array([*chairLoc, 0]) + self.chair.ctrPoint)
Rd = getRodriguesMtx(chairDirection, np.array([0, 0, 1]))
shiftedVect = (
Rd @ np.array([0.2, 0, 0]).reshape(3, 1)).reshape(-1)
self.chair = self.chair.translate(shiftedVect +
self.chair.ctrPoint)
# The table's location is defined based on
self.table = Cube(Vector(
np.array([1, np.deg2rad(90), np.deg2rad(0)])),
ctrPoint=np.array([0, 0, 0.3]),
dimensions=[0.6, 1.2, 0.9],
reflectivities={
'p0': 0.04,
'p1': 0.04,
'p2': 0.04,
'p3': 0.04,
'p4': 0.04,
'p5': 0.04
})
self.table = self.table.rotate(chairDirection, np.array([0, 0, 1]))
self.table = self.table.translate(
np.array([*chairLoc, 0]) + self.table.ctrPoint)
Rd = getRodriguesMtx(chairDirection, np.array([0, 0, 1]))
shiftedVect = (Rd @ np.array([1, 0, 0]).reshape(3, 1)).reshape(-1)
self.table = self.table.translate(shiftedVect +
self.table.ctrPoint)
# The table is modeled a simple plane
self.tableAsCube = self.table
self.table = self.table.listPlanes[2]
# LED or PD
self.led, self.pd = None, None
if mode.lower() == 'rx':
self.led = PointSource(
np.pi,
0,
np.array([self.room.L / 2, self.room.W / 2, self.room.H]),
m=-np.log(2) / np.log(np.cos(np.deg2rad(40.))))
elif mode.lower() == 'tx':
self.pd = BareDetector(
np.pi,
0,
np.array([self.room.L / 2, self.room.W / 2, self.room.H]),
area=1e-4,
FoV=np.deg2rad(85))
# Get all planes
self.listPlanes = []
self.listPlanes.append(self.human.listPlanes)
self.listPlanes.append(self.room.listPlanes)
if self.chair and self.table:
self.listPlanes.append(self.chair.getPartition(Ps=1))
self.listPlanes.append(self.table.getPartition(Ps=1))
self.listPlanes = list(flatten(self.listPlanes))
# Get blocking object
self.blockingObj = []
if self.chair:
self.blockingObj.append(self.chair)
if self.table:
self.blockingObj.append(self.table)
if self.human:
self.blockingObj.append(self.human)
# Validate whether a vertice is NOT out of bounds
roomVerts = np.append(self.room.listPlanes[0].verts,
self.room.listPlanes[1].verts).reshape([-1, 3])
delaunay = Delaunay(roomVerts)
verts = np.array(
list(flatten([plane.verts.tolist()
for plane in self.listPlanes]))).reshape([-1, 3])
if self.human.led:
verts = np.append(verts, self.human.led.loc).reshape([-1, 3])
elif self.human.pd:
verts = np.append(verts, self.human.pd.loc).reshape([-1, 3])
# # Check feasibility of human
# verts = np.array(list(flatten([plane.verts.tolist() for plane in self.human.listPlanes]))).reshape([-1,3])
# # Check feasibility of chair
# verts = np.array(list(flatten([plane.verts.tolist() for plane in self.chair.getPartition(Ps=1)]))).reshape([-1,3])
# # Check feasibility of table
# verts = np.array(list(flatten([plane.verts.tolist() for plane in self.table.getPartition(Ps=1)]))).reshape([-1,3])
# # Check feasibility of LED
# verts = self.human.led.loc
# # Check feasibility of PD
# verts = self.human.pd.loc
self.isValid = np.alltrue(delaunay.find_simplex(verts) >= 0)
# Check whether the human intersects with the furniture
if self.chair and self.table:
chairVerts = np.append(self.chair.listPlanes[0].verts,
self.chair.listPlanes[1].verts).reshape(
[-1, 3])
tableVerts = np.append(
self.tableAsCube.listPlanes[0].verts,
self.tableAsCube.listPlanes[1].verts).reshape([-1, 3])
verts = np.array(
list(
flatten([
plane.verts.tolist() for plane in self.human.listPlanes
]))).reshape([-1, 3])
if self.human.led:
verts = np.append(verts, self.human.led.loc).reshape([-1, 3])
elif self.human.pd:
verts = np.append(verts, self.human.pd.loc).reshape([-1, 3])
self.isValid = np.alltrue(
Delaunay(chairVerts).find_simplex(verts) < 0) and np.alltrue(
Delaunay(tableVerts).find_simplex(verts) < 0)
def calc(self,
LEDs,
PDs,
blockingObj,
reflectingObj,
partitionDist=speed_of_light * 1e-9,
numReflections=math.inf,
verbose=False):
""" Calcute the CIR.
Parameters
----------
LEDs: list
List of LEDs. But, currently supports 1 LED.
PDs: list
List of PDs. Currently supports 1 PD.
blockingObj: list
List of blocking objects.
reflectingObj: list
List of reflecting objects, for example a room.
The naming is due to we might need a genera case when
we can do the assumptions of infinite room such that
what matters most are the ceiling and the floor.
Note that the blockingObj will also be treated as a
relfecting object.
partitionDist: double (optional)
Delta distance based on which we partition a plane.
The default value is c*timesampling, timesampling is
assumed to 1ns by default. See Schulze's paper.
numReflections: inf or integer (optional)
Denoting the number of reflections.
"""
# Transform into list
if not isinstance(LEDs, list):
LEDs = [LEDs]
if not isinstance(PDs, list):
PDs = [PDs]
if not isinstance(blockingObj, list):
blockingObj = [blockingObj]
if not isinstance(reflectingObj, list):
reflectingObj = [reflectingObj]
# Currently support 1 LED and 1 PD
assert len(LEDs) == 1 and len(PDs) == 1
# Partition assuming that all obj in reflectingObj
# has the getPartition method
reflectingPlanes = []
for obj in reflectingObj:
reflectingPlanes.append(obj.getPartition(delta=partitionDist))
# don't forget to include blockingObj as reflecting objects
for obj in blockingObj:
reflectingPlanes.append(obj.getPartition(delta=partitionDist))
# flatten the list
reflectingPlanes = list(flatten(reflectingPlanes))
# Partition blockingObj
blockingPlanes = []
for obj in blockingObj:
# The number of partition on each side is one
blockingPlanes.append(obj.getPartition(Ps=1))
blockingPlanes = list(flatten(blockingPlanes))
# Get simple planes
simpleReflectingPlanes = [
plane.getSimplePlane() for plane in reflectingPlanes
]
simpleBlockingPlanes = [
plane.getSimplePlane() for plane in blockingPlanes
]
emitters = [led.getSimplePointSource() for led in LEDs]
collectors = [pd.getSimpleBareDetector() for pd in PDs]
if verbose:
print("> Calculating CIR......(wait)")
if len(self.H_f) != 0:
# self.Hf_los,self.Hf_diff = calcCIRFreqDom_fromMtx(self.f,
# emitters[0],collectors[0],simpleReflectingPlanes,
# self.H_f,self.t_f,self.r_f,self.H_los,blockingplanes=simpleBlockingPlanes)
self.Hf_los, self.Hf_diff = calcCIRFreqDom_fromMtx(
self.f, self.Nplanes, self.reflectivities, self.H_f, self.t_f,
self.r_f, self.H_los)
else:
self.Hf_los, self.Hf_diff = calcCIRFreqDom(self.f, emitters[0],
collectors[0],
simpleReflectingPlanes,
simpleBlockingPlanes)
if verbose:
print("> Finish calculating CIR :)")
return self.Hf_los, self.Hf_diff
def getArrayMobility(randomMobModel='rwp',
activity='walking',
dimensions=(0, 1),
velocityMinMax=(0.1, 1),
waitTimeMax=1.,
excludedArea=1.,
minSamples=30):
""" Obtain arrays of locations, velocities, time instances, directions, and
changes of polar and azimuth angles of orientation of the UE.
Parameters
----------
randomMobModel: {'rwp','rd','lw'}
'rwp': random waypoint
'rd' : random direction
'lw' : Levy-walk
activity: {'sitting','standing','walking'}
self-explanotory
dimensions: tuple(2,)
Areas of mobility of the human.
Ex: dimensions = (roomLength,roomWidth)
velocityMinMax: tuple(2,)
The minimum and maximum of velocities.
waitTimeMax: double
The maximum waiting time in seconds.
excludedArea: double
Area that will be excluded during simulation.
Currently, it is as simple as a circle centered at the origin.
Therefore, it is now only suitable for the simple office environment.
minSamples: double
The minimum number of generated samples. Default is 30.
"""
assert randomMobModel.lower() in {'rwp', 'rd', 'lw'}
assert activity.lower() in {'sitting', 'standing', 'walking'}
assert len(dimensions) == len(velocityMinMax) == 2
assert waitTimeMax >= 0
assert excludedArea >= 0
if activity.lower() == 'walking':
if randomMobModel.lower() == 'rwp':
rmm = RandomWaypoint(1,
dimensions=dimensions,
velocity=velocityMinMax,
wt_max=waitTimeMax)
elif randomMobModel.lower() == 'rd':
rmm = RandomDirection(1,
dimensions=dimensions,
velocity=velocityMinMax,
wt_max=waitTimeMax)
elif randomMobModel.lower() == 'lw':
rmm = TruncatedLevyWalk(1,
dimensions=dimensions,
WT_MAX=waitTimeMax)
# Make an iterable object from rmm
rmmIter = iter(rmm)
while True:
arrayLoc = []
arrayVel = []
arrayTime = [0]
while True:
loc = next(rmmIter)
if np.linalg.norm(loc) < excludedArea:
break
else:
arrayLoc.append(np.array(loc))
arrayVel.append(np.array(rmm.velocity))
for i in range(len(arrayLoc) - 1):
if arrayVel[i] == 0:
deltaTime = 0
else:
deltaTime = np.linalg.norm(arrayLoc[i + 1] -
arrayLoc[i]) / arrayVel[i]
arrayTime.append(arrayTime[i] + deltaTime)
arrayVel = np.array(list(flatten(arrayVel)))
arrayTime = np.array(list(flatten(arrayTime)))
arrayLoc = np.array(list(flatten(arrayLoc))).reshape((-1, 2))
if arrayLoc.shape[0] >= minSamples:
break
arrayDir = []
for i in range(arrayLoc.shape[0] - 1):
arrayDir.append(getDirection(arrayLoc[i], arrayLoc[i + 1]))
arrayDir.append(arrayDir[-1])
arrayDir = np.array(arrayDir)
ro = RandomOrientation('walking')
arrayTheta0, arrayOmega0 = ro.genSamples(arrayTime)
else: # {'sitting','standing'}
ro = RandomOrientation(activity)
arrayTime = np.arange(minSamples) * 0.001
# 1 ms resolution
arrayTheta0, arrayOmega0 = ro.genSamples(arrayTime)
arrayLoc, arrayVel, arrayDir = [], [], []
return {
'arrayLoc': arrayLoc,
'arrayVel': arrayVel,
'arrayTime': arrayTime,
'arrayDir': arrayDir,
'arrayTheta0': arrayTheta0,
'arrayOmega0': arrayOmega0
}