def get_4piconv(self, ch, theta, phi, psi, horn_pointing=False):
l.info('Computing dipole temperature with 4pi convolver')
vel = qarray.amplitude(self.satellite_v).flatten()
beta = vel / physcon.c
gamma = 1./np.sqrt(1-beta**2)
unit_vel = self.satellite_v/vel[:,None]
if horn_pointing: # psi comes from the S channel, so there is no need
# to remove psi_pol
psi_nopol = psi
else:
# remove psi_pol
psi_nopol = psi - np.radians(ch.get_instrument_db_field("psi_pol"))
# rotate vel to ecliptic
# phi around z
#ecl_rotation = qarray.rotation([0,0,1], -phi)
# theta around y
ecl_rotation = qarray.norm( qarray.mult(
qarray.rotation([0,0,1], -psi_nopol) ,
qarray.mult(
qarray.rotation([0,1,0], -theta) ,
qarray.rotation([0,0,1], -phi)
)
))
# psi around z
#ecl_rotation = qarray.mult(qarray.rotation([0,0,1], -psi) , ecl_rotation)
# vel in beam ref frame
vel_rad = qarray.rotate(ecl_rotation, unit_vel)
cosdir = qarray.arraylist_dot(vel_rad, self.beam_sum[ch.tag]).flatten()
#return beta * cosdir * T_CMB
return (1. / ( gamma * (1 - beta * cosdir ) ) - 1) * T_CMB
def angles2siam(theta, phi, psi):
mat_spin2boresight=qarray.rotation([0,1,0], np.pi/2-SPIN2BORESIGHT)
mat_theta_phi = qarray.rotation([-math.sin(phi),math.cos(phi),0], theta)
mat_psi = qarray.rotation([0,0,1], psi)
# detector points to X axis
total = qarray.mult(mat_spin2boresight, qarray.mult(mat_theta_phi, mat_psi))
# siam is defined as pointing to Z axis
return np.dot(qarray.to_rotmat(total[0]), np.array([[0,0,1],[0,1,0],[1,0,0]]))
def boresight_sim(nsim=1000, qprec=None, samplerate=23.0, spinperiod=10.0, spinangle=30.0, precperiod=93.0, precangle=65.0):
spinrate = 1.0 / (60.0 * spinperiod)
spinangle = spinangle * np.pi / 180.0
precrate = 1.0 / (60.0 * precperiod)
precangle = precangle * np.pi / 180.0
xaxis = np.array([1,0,0], dtype=np.float64)
yaxis = np.array([0,1,0], dtype=np.float64)
zaxis = np.array([0,0,1], dtype=np.float64)
satrot = None
if qprec is None:
satrot = np.tile(qa.rotation(np.array([0.0, 1.0, 0.0]), np.pi/2), nsim).reshape(-1,4)
elif qprec.flatten().shape[0] == 4:
satrot = np.tile(qprec, nsim).reshape(-1,4)
elif qprec.shape == (nsim, 4):
satrot = qprec
else:
raise RuntimeError("qprec has wrong dimensions")
# Time-varying rotation about precession axis.
# Increment per sample is
# (2pi radians) X (precrate) / (samplerate)
# Construct quaternion from axis / angle form.
precang = np.arange(nsim, dtype=np.float64)
precang *= 2.0 * np.pi * precrate / samplerate
# (zaxis, precang)
cang = np.cos(0.5 * precang)
sang = np.sin(0.5 * precang)
precaxis = np.multiply(sang.reshape(-1,1), np.tile(zaxis, nsim).reshape(-1,3))
precrot = np.concatenate((precaxis, cang.reshape(-1,1)), axis=1)
# Rotation which performs the precession opening angle
precopen = qa.rotation(np.array([1.0, 0.0, 0.0]), precangle)
# Time-varying rotation about spin axis. Increment
# per sample is
# (2pi radians) X (spinrate) / (samplerate)
# Construct quaternion from axis / angle form.
spinang = np.arange(nsim, dtype=np.float64)
spinang *= 2.0 * np.pi * spinrate / samplerate
cang = np.cos(0.5 * spinang)
sang = np.sin(0.5 * spinang)
spinaxis = np.multiply(sang.reshape(-1,1), np.tile(zaxis, nsim).reshape(-1,3))
spinrot = np.concatenate((spinaxis, cang.reshape(-1,1)), axis=1)
# Rotation which performs the spin axis opening angle
spinopen = qa.rotation(np.array([1.0, 0.0, 0.0]), spinangle)
# compose final rotation
boresight = qa.mult(satrot, qa.mult(precrot, qa.mult(precopen, qa.mult(spinrot, spinopen))))
return boresight
def ptcor(obt, ptcorfile):
# Boresight rotation of 85 degrees in order to get in inscan-xscan reference frame
q_str_LOS = qarray.rotation(np.array([0,1,0]), np.radians(90-85))
# read variable correction for current OD from file
delta_inscan, delta_xscan = read_ptcor(obt, ptcorfile)
# rotation in inscan-xscan reference frame
qcor = qarray.mult(
qarray.rotation(np.array([0,1,0]), delta_xscan),
qarray.rotation(np.array([1,0,0]), delta_inscan)
)
qcor_tot = qarray.mult(q_str_LOS, qarray.mult(qcor, qarray.inv(q_str_LOS)))
return qcor_tot
def ang_to_quat(offsets):
"""Convert cartesian angle offsets and rotation into quaternions.
Each offset contains two angles specifying the distance from the Z axis
in orthogonal directions (called "X" and "Y"). The third angle is the
rotation about the Z axis. A quaternion is computed that first rotates
about the Z axis and then rotates this axis to the specified X/Y angle
location.
Args:
offsets (list of arrays): Each item of the list has 3 elements for
the X / Y angle offsets in radians and the rotation in radians
about the Z axis.
Returns:
(list): List of quaternions, one for each item in the input list.
"""
out = list()
zaxis = np.array([0, 0, 1], dtype=np.float64)
for off in offsets:
angrot = qa.rotation(zaxis, off[2])
wx = np.sin(off[0])
wy = np.sin(off[1])
wz = np.sqrt(1.0 - (wx * wx + wy * wy))
wdir = np.array([wx, wy, wz])
posrot = qa.from_vectors(zaxis, wdir)
out.append(qa.mult(posrot, angrot))
return out
def wobble(obt, wobble_psi2_model=get_wobble_psi2_maris, offset=0):
"""Gets array of OBT and returns an array of quaternions"""
R_psi1 = qarray.inv(qarray.rotation([0,0,1], private.WOBBLE_DX7['psi1_ref']))
R_psi2 = qarray.inv(qarray.rotation([0,1,0], private.WOBBLE_DX7['psi2_ref']))
psi2 = wobble_psi2_model(obt) - offset
R_psi2T = qarray.rotation([0,1,0], psi2)
wobble_rotation = qarray.mult(qarray.inv(R_psi1),
qarray.mult(R_psi2T ,
qarray.mult(R_psi2 , R_psi1)
)
)
#debug_here()
return wobble_rotation
def ahf_wobble(obt):
"""Pointing period by pointing period correction for psi1 and psi2 from
the AHF observation files"""
R_psi1 = qarray.inv(qarray.rotation([0,0,1], private.WOBBLE['psi1_ref']))
R_psi2 = qarray.inv(qarray.rotation([0,1,0], private.WOBBLE['psi2_ref']))
psi1, psi2 = get_ahf_wobble(obt)
R_psi2T = qarray.rotation([0,1,0], psi2)
R_psi1T = qarray.rotation([0,0,1], psi1)
wobble_rotation = qarray.mult(R_psi1T,
qarray.mult(R_psi2T ,
qarray.mult(R_psi2 , R_psi1)
)
)
return wobble_rotation
def get_4piconv_dx10(self, ch, theta, phi, psi):
l.info('Computing dipole temperature with 4pi convolver')
rel_vel = self.satellite_v/physcon.c
# remove psi_pol
psi_nopol = psi - np.radians(ch.get_instrument_db_field("psi_pol"))
# rotate vel to horn reference frame
tohorn_rotation = qarray.norm( qarray.mult(
qarray.rotation([0,0,1], -psi_nopol) ,
qarray.mult(
qarray.rotation([0,1,0], -theta) ,
qarray.rotation([0,0,1], -phi)
)
))
# vel in beam ref frame
vel_rad = qarray.rotate(tohorn_rotation, rel_vel)
dipole_amplitude = self.get_fourpi_prod(vel_rad, ["S100", "S010", "S001"], ch)
# relative corrections
dipole_amplitude += vel_rad[:,0] * self.get_fourpi_prod(vel_rad, ["S200", "S110", "S101"], ch)/2
dipole_amplitude += vel_rad[:,1] * self.get_fourpi_prod(vel_rad, ["S110", "S020", "S011"], ch)/2
dipole_amplitude += vel_rad[:,2] * self.get_fourpi_prod(vel_rad, ["S101", "S011", "S002"], ch)/2
return dipole_amplitude * T_CMB
def triangle(npos, width, rotate=None):
"""Compute positions in an equilateral triangle layout.
Args:
npos (int): The number of positions packed onto wafer=3
width (float): distance between tubes in degrees
rotate (array, optional): Optional array of rotation angles in degrees
to apply to each position.
Returns:
(array): Array of quaternions for the positions.
"""
zaxis = np.array([0, 0, 1], dtype=np.float64)
sixty = np.pi / 3.0
thirty = np.pi / 6.0
rtthree = np.sqrt(3.0)
rtthreebytwo = 0.5 * rtthree
tubedist = width * np.pi / 180.0
result = np.zeros((npos, 4), dtype=np.float64)
posangarr = np.array([sixty * 3.0 + thirty, -thirty, thirty * 3.0])
for pos in range(npos):
posang = posangarr[pos]
posdist = tubedist / rtthree
posx = np.sin(posdist) * np.cos(posang)
posy = np.sin(posdist) * np.sin(posang)
posz = np.cos(posdist)
posdir = np.array([posx, posy, posz], dtype=np.float64)
norm = np.sqrt(np.dot(posdir, posdir))
posdir /= norm
posrot = qa.from_vectors(zaxis, posdir)
if rotate is None:
result[pos] = posrot
else:
prerot = qa.rotation(zaxis, rotate[pos] * np.pi / 180.0)
result[pos] = qa.mult(posrot, prerot)
return result
timestamps = np.zeros(nsamp, dtype="double")
timestamps[:] = np.arange(nsamp)
dets = ["1A", "1B", "2A", "2B"]
detstring = dets2detstring(dets)
ndet = len(dets)
x_axis, y_axis, z_axis = np.eye(3)
# Earth
angle_each_day = np.radians(360 / 365.25)
angles = timestamps * angle_each_day / 3600 / 24
rot_earth_orbit = qa.rotation(z_axis, angles)
# Precession
prec_period_seconds = 1 * 3600
prec_ang_speed = 2 * np.pi / prec_period_seconds
rot_prec_opening = qa.rotation(z_axis, -np.radians(40))
prec_angles = (timestamps * prec_ang_speed) % (2 * np.pi)
rot_prec = qa.mult(qa.rotation(x_axis, prec_angles), rot_prec_opening)
# Spin
spin_period_seconds = 60
spin_ang_speed = 2 * np.pi / spin_period_seconds
spin_angles = (timestamps * spin_ang_speed) % (2 * np.pi)
rot_opening = qa.rotation(z_axis, -np.radians(10))
def rhombus_layout(npos, width, rotate=None):
"""Compute positions in a hexagon layout.
This particular rhombus geometry is essentially a third of a
hexagon. In other words the aspect ratio of the rhombus is
constrained to have the long dimension be sqrt(3) times the short
dimension.
The rhombus is projected on the sphere and centered on the Z axis.
The X axis is along the short direction. The Y axis is along the longer
direction. For example::
O
Y ^ O O
| O O O
| O O O O
+--> X O O O
O O
O
Each position is numbered 0..npos-1. The first position is at the
"top", and then the positions are numbered moving downward and left to
right.
The extent of the rhombus is directly specified by the width parameter
which is the angular extent along the X direction.
Args:
npos (int): The number of positions in the rhombus.
width (float): The angle (in degrees) subtended by the width along
the X axis.
rotate (array, optional): Optional array of rotation angles in degrees
to apply to each position.
Returns:
(array): Array of quaternions for the positions.
"""
zaxis = np.array([0, 0, 1], dtype=np.float64)
rtthree = np.sqrt(3.0)
angwidth = width * np.pi / 180.0
dim = rhomb_dim(npos)
# find the angular packing size of one detector
posdiam = angwidth / (dim - 1)
result = np.zeros((npos, 4), dtype=np.float64)
for pos in range(npos):
posrow, poscol = rhomb_row_col(npos, pos)
rowang = 0.5 * rtthree * ((dim - 1) - posrow) * posdiam
relrow = posrow
if posrow >= dim:
relrow = (2 * dim - 2) - posrow
colang = (float(poscol) - float(relrow) / 2.0) * posdiam
distang = np.sqrt(rowang**2 + colang**2)
zang = np.cos(distang)
posdir = np.array([colang, rowang, zang], dtype=np.float64)
norm = np.sqrt(np.dot(posdir, posdir))
posdir /= norm
posrot = qa.from_vectors(zaxis, posdir)
if rotate is None:
result[pos] = posrot
else:
prerot = qa.rotation(zaxis, rotate[pos] * np.pi / 180.0)
result[pos] = qa.mult(posrot, prerot)
return result
def hex_layout(npos, width, rotate=None):
"""Compute positions in a hexagon layout.
Place the given number of positions in a hexagonal layout projected on
the sphere and centered at z axis. The width specifies the angular
extent from vertex to vertex along the "X" axis. For example::
Y ^ O O O
| O O O O
| O O + O O
+--> X O O O O
O O O
Each position is numbered 0..npos-1. The first position is at the center,
and then the positions are numbered moving outward in rings.
Args:
npos (int): The number of positions packed onto wafer.
width (float): The angle (in degrees) subtended by the width along
the X axis.
rotate (array, optional): Optional array of rotation angles in degrees
to apply to each position.
Returns:
(array): Array of quaternions for the positions.
"""
zaxis = np.array([0, 0, 1], dtype=np.float64)
nullquat = np.array([0, 0, 0, 1], dtype=np.float64)
sixty = np.pi / 3.0
thirty = np.pi / 6.0
rtthree = np.sqrt(3.0)
rtthreebytwo = 0.5 * rtthree
angdiameter = width * np.pi / 180.0
# find the angular packing size of one detector
nrings = hex_nring(npos)
posdiam = angdiameter / (2 * nrings - 2)
result = np.zeros((npos, 4), dtype=np.float64)
for pos in range(npos):
if pos == 0:
# center position has no offset
posrot = nullquat
else:
# Not at the center, find ring for this position
test = pos - 1
ring = 1
while (test - 6 * ring) >= 0:
test -= 6 * ring
ring += 1
sectors = int(test / ring)
sectorsteps = np.mod(test, ring)
# Convert angular steps around the ring into the angle and distance
# in polar coordinates. Each "sector" of 60 degrees is essentially
# an equilateral triangle, and each step is equally spaced along
# the edge opposite the vertex:
#
# O
# O O (step 2)
# O O (step 1)
# X O O O (step 0)
#
# For a given ring, "R" (center is R=0), there are R steps along
# the sector edge. The line from the origin to the opposite edge
# that bisects this triangle has length R*sqrt(3)/2. For each
# equally-spaced step, we use the right triangle formed with this
# bisection line to compute the angle and radius within this
# sector.
# The distance from the origin to the midpoint of the opposite
# side.
midline = rtthreebytwo * float(ring)
# the distance along the opposite edge from the midpoint (positive
# or negative)
edgedist = float(sectorsteps) - 0.5 * float(ring)
# the angle relative to the midpoint line (positive or negative)
relang = np.arctan2(edgedist, midline)
# total angle is based on number of sectors we have and the angle
# within the final sector.
posang = sectors * sixty + thirty + relang
posdist = rtthreebytwo * posdiam * float(ring) / np.cos(relang)
posx = np.sin(posdist) * np.cos(posang)
posy = np.sin(posdist) * np.sin(posang)
posz = np.cos(posdist)
posdir = np.array([posx, posy, posz], dtype=np.float64)
norm = np.sqrt(np.dot(posdir, posdir))
posdir /= norm
posrot = qa.from_vectors(zaxis, posdir)
if rotate is None:
result[pos] = posrot
else:
prerot = qa.rotation(zaxis, rotate[pos] * np.pi / 180.0)
result[pos] = qa.mult(posrot, prerot)
return result
timestamps[:] = np.arange(nsamp)
dets = ["1A", "1B", "2A", "2B"]
detstring = dets2detstring(dets)
ndet = len(dets)
spin_period_seconds = 60
x_axis, y_axis, z_axis = np.eye(3)
spin_ang_speed = 2 * np.pi / spin_period_seconds
spin_angles = (timestamps * spin_ang_speed) % (2 * np.pi)
rot_opening = qa.rotation(z_axis, -np.radians(10))
rot_spin = qa.mult(qa.rotation(x_axis, spin_angles), rot_opening)
bore_v = qa.rotate(rot_spin, x_axis)
pix_1det = hp.vec2pix(nside,
bore_v[:, 0],
bore_v[:, 1],
bore_v[:, 2],
nest=True)
pixels = np.tile(pix_1det, ndet)
del pix_1det, bore_v, rot_spin
pars = {}
pars["base_first"] = 60.0
pars["fsample"] = fsample
def test_rotation(self):
np.testing.assert_array_almost_equal(
qarray.rotation(np.array([0,0,1]), np.radians(30)), np.array([0, 0, np.sin(np.radians(15)), np.cos(np.radians(15))])
)
# In[ ]:
#target_ut_h = ut_h.values
# ### Elevation and spinning
# Elevation is a rotation with respect to the `y` axis of the opening angle
# In[ ]:
# In[ ]:
q_elev = qa.rotation(y, np.radians(OPENING_ANGLE))
# Rotation is a rotation with respect to the `z` axis
# In[ ]:
rotation_speed = np.radians(-1 * 360/60)
az = rotation_speed * (target_ut_h * 3600.) % (2*np.pi)
q_rotation = qa.rotation(z, az)
# We compose the rotations
nside = 32
npix = 12 * nside**2
fsample = 1
nsamp = 3600 * 24 # number of time ordered data samples
nnz = 3 # number or non zero pointing weights, typically 3 for IQU
timestamps = np.zeros(nsamp, dtype="double")
timestamps[:] = np.arange(nsamp)
x_axis, y_axis, z_axis = np.eye(3)
# Earth
angle_each_day = np.radians(360 / 365.25)
angles = timestamps * angle_each_day / 3600 / 24
rot_earth_orbit = qa.rotation(z_axis, angles)
# Precession
prec_period_seconds = 1 * 3600
prec_ang_speed = 2 * np.pi / prec_period_seconds
rot_prec_opening = qa.rotation(z_axis, -np.radians(40))
prec_angles = (timestamps * prec_ang_speed) % (2 * np.pi)
rot_prec = qa.mult(qa.rotation(x_axis, prec_angles), rot_prec_opening)
# Spin
spin_period_seconds = 60
spin_ang_speed = 2 * np.pi / spin_period_seconds
spin_angles = (timestamps * spin_ang_speed) % (2 * np.pi)
rot_opening = qa.rotation(z_axis, -np.radians(10))