sample = {'demagnetizing_factor': demagnetizing_factor,
'volume': volume,
'M_saturation': M_saturation}
# magnet collection definition
m1 = Cylinder(mag=[0, 0, 1300], # 1300mT of magnetization along z axis
dim=[10, 20], # 10mm diameter, 20mm height
pos=[0, 0, -20]) # center is at z = -20mm
m2 = Cylinder(mag=[0, 0, 1300], # 1300mT of magnetization along z axis
dim=[10, 20], # 10mm diameter, 20mm height
pos=[0, 0, 20]) # center is at z = 20mm
both = Collection(m1, m2) # arrangement with both magnets
# magnet collection visualisation
displaySystem(both, suppress=True)
# 3D plot of B and F in a 3D space
plot_3D(xs=linspace(-10, 10, 9),
ys=linspace(-10, 10, 9),
zs=linspace(-20, 20, 9),
collections={'z-20': m1,
'both': both},
sample=sample,
from magpylib import source, Collection
from matplotlib import pyplot
pyplot.ioff() # Enable interactivity suppression for figure export
cyl = source.magnet.Cylinder(mag=[-1, 0, 0], dim=[2, 1], pos=[0, 0, 2])
b = source.magnet.Box(mag=[1, 0, 0], dim=[1, 1, 0.5], pos=[0, 0, 0])
pivot_position = [0, 0, 4]
pivot_marker = pivot_position + ["anchor"]
col = Collection(b, cyl)
fig = col.displaySystem(
suppress=True, # Suppress interactive images
markers=[pivot_marker], # Show given markers
direc=True) # Show magnetization vectors
fig.suptitle("Cylinder and Box Assembly")
fig.set_size_inches(6, 6)
cyl.rotate(45, (0, 1, 0),
anchor=pivot_position) # Rotate just the Cylinder Object
fig2 = col.displaySystem(
suppress=True, # Suppress interactive images
markers=[pivot_marker], # Show given markers
direc=True) # Show magnetization vectors
fig2.suptitle("Cylinder rotated -90° in (0,1,0), pivoting around [0,0,4]")
pos=position)
return newTurn
# Define Coil
sizeOfCoil = 3 #mm
turnDistance = 0.1 #mm
diameter = 5 #mm
startMarker = [0,0,0]
endMarker = [0,0,sizeOfCoil]
## Generate a coil structure
coilStructure = [returnCoilTurn(diameter,[0,0,i]) for i in arange(0,sizeOfCoil, turnDistance)]
## Define Coil
coil = Collection(coilStructure)
## Generate Source Objects
box = source.magnet.Box( mag = [1,2,3],
dim = [4,5,6],
pos = [7,8,9])
sphere = source.magnet.Sphere( mag = [1,2,3],
dim = 5,
pos = [-7,-8,-9],)
superCollection = Collection(box,sphere,coil) ## Make a mixed Collection
superCollection.displaySystem()
coil.rotate(45,(0,1,1),anchor=[0,0,0])
superCollection.displaySystem()
data = pickle.load(open("data/test.p", "rb"))
mag = [0, 0, -575.4]
dim = [6.35, 6.35, 6.35]
sen = []
loops = 150
for i in range(5, loops):
b = Box(mag=mag,
dim=dim,
pos=data[i][0],
angle=data[i][1],
axis=data[i][2])
sen.append(magpy.Sensor(pos=data[i][0], angle=data[i][1], axis=data[i][2]))
col = Collection(b)
if (i == (loops - 1)):
h = 1
magpy.displaySystem(col, sensors=sen)
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
length = 3
for i in range(5, loops):
x = [1, 0, 0]
y = [0, 1, 0]
z = [0, 0, 1]
pos = data[i][0]
axis = data[i][2]
magnets = Collection(gen_magnets(balljoint_config['field_strength'],balljoint_config['magnet_dimension'],balljoint_config['magnet_pos'],balljoint_config['magnet_pos_offsets'], \
balljoint_config['magnet_angle'],balljoint_config['magnet_angle_offsets']))
magnets.rotate(rot[0], (1, 0, 0), anchor=(0, 0, 0))
magnets.rotate(rot[1], (0, 1, 0), anchor=(0, 0, 0))
magnets.rotate(rot[2], (0, 0, 1), anchor=(0, 0, 0))
data = []
for sens in sensors:
val = sens.getB(magnets)
if normalize_magnetic_strength:
val /= np.linalg.norm(val)
data.append(val)
if (iter % 1000 == 0):
print("%d/%d" % (iter, iterations))
return (data, rot)
magnets = Collection(gen_magnets(balljoint_config['field_strength'],balljoint_config['magnet_dimension'],balljoint_config['magnet_pos'],balljoint_config['magnet_pos_offsets'], \
balljoint_config['magnet_angle'],balljoint_config['magnet_angle_offsets']))
data_norm = []
data = []
for sens in sensors:
val0 = sens.getB(magnets)
val1 = sens.getB(magnets)
data.append(val0)
val1 /= np.linalg.norm(val1)
data_norm.append(val1)
print(
"sensor values:\n%.3f %.3f %.3f\n%.3f %.3f %.3f\n%.3f %.3f %.3f\n%.3f %.3f %.3f\n"
% (data[0][0], data[0][1], data[0][2], data[1][0], data[1][1], data[1][2],
data[2][0], data[2][1], data[2][2], data[3][0], data[3][1], data[3][2]))
print(
"sensor values normalized:\n%.3f %.3f %.3f\n%.3f %.3f %.3f\n%.3f %.3f %.3f\n%.3f %.3f %.3f\n"
import matplotlib.pyplot as plt from magpylib.source.magnet import Cylinder from magpylib.source.current import Circular from magpylib import Collection TURNS = 15 s = 91 LENGTH = 3 CURRENT = 1 # create magnets s2 = Cylinder(mag=(0,0,500), dim=(3,5)) coil1 = [Circular(curr=CURRENT,dim=LENGTH,pos=[0,0,z]) for z in np.linspace(-3,3,TURNS)] # create collection c1 = Collection(coil1) xs = np.linspace(0, 0,6) ys = np.linspace(0, 0,6) zs = np.linspace(-9, 9, s) F_POS = np.array([(x,y,z) for x in xs for y in ys for z in zs]) B = c1.getB(F_POS)[:s] mags = [ math.sqrt(sum(i**2 for i in x)) for x in B ] z_pos = [d for d in zs] derivative = np.diff(mags)/np.diff(zs) print(mags) plt.plot(z_pos, mags, 'blue', label='B(x)') plt.plot(z_pos[1:], derivative, 'red', label="B'(x)")
# taken from https://magpylib.readthedocs.io/en/latest/_pages/2_guideExamples/ import numpy as np import matplotlib.pyplot as plt from magpylib.source.magnet import Box, Cylinder from magpylib import Collection, displaySystem # create magnets s1 = Box(mag=(0, 0, 600), dim=(3, 3, 3), pos=(-4, 0, 3)) s2 = Cylinder(mag=(0, 0, 500), dim=(3, 5)) # create collection c = Collection(s1, s2) # manipulate magnets individually s1.rotate(45, (0, 1, 0), anchor=(0, 0, 0)) s2.move((5, 0, -4)) # manipulate collection c.move((-2, 0, 0)) # calculate B-field on a grid xs = np.linspace(-10, 10, 33) zs = np.linspace(-10, 10, 44) POS = np.array([(x, 0, z) for z in zs for x in xs]) Bs = c.getB(POS).reshape(44, 33, 3) #<--VECTORIZED # create figure fig = plt.figure(figsize=(9, 5)) ax1 = fig.add_subplot(121, projection='3d') # 3D-axis ax2 = fig.add_subplot(122) # 2D-axis
s2 = Box(mag=[-500, 0, -500],
dim=[3, 3, 3],
pos=[0, 0, -3],
angle=45,
axis=[0, 1, 0])
s3 = Box(mag=[500, 0, -500],
dim=[4, 4, 4],
pos=[4, 0, 0],
angle=45,
axis=[0, 1, 0])
s4 = Box(mag=[-500, 0, 500],
dim=[4, 4, 4],
pos=[-4, 0, 0],
angle=45,
axis=[0, 1, 0])
c = Collection(s1, s2, s3, s4)
#create positions
xs = np.linspace(-8, 8, 100)
zs = np.linspace(-8, 8, 100)
posis = [[x, 0, z] for z in zs for x in xs]
#calculate fields
Bs = c.getBsweep(posis)
#reshape array and calculate amplitude
Bs = Bs.reshape([100, 100, 3])
Bamp = np.linalg.norm(Bs, axis=2)
##define figure with 2d and 3d axes
fig = plt.figure(figsize=(8, 4))
def displaySystem(sources, markers=listOfPos, subplotAx=None,
sensors=listOfSensors, suppress=False,
direc=False, figsize=(8, 8)):
"""
Shows the collection system in an interactive pyplot and returns a matplotlib figure identifier.
WARNING
-------
As a result of an inherent problem in matplotlib the
Poly3DCollections z-ordering fails when bounding boxes intersect.
Parameters
----------
markers : list[scalar,scalar,scalar,[label]]
List of position vectors to add visual markers to the display, optional label.
Default: [[0,0,0]]
Example
-------
>>> from magpylib import Collection, source
>>> c=source.current.Circular(3,7)
>>> x = Collection(c)
>>> marker0 = [0,0,0,"Neutral Position"]
>>> marker1 = [10,10,10]
>>> x.displaySystem(markers=[ marker0,
... marker1])
Parameters
----------
sensors : list[sensor]
List of :class:`~magpylib.Sensor` objects to add the display.
Default: None
Example
-------
>>> from magpylib import Collection, source
>>> c=source.current.Circular(3,7)
>>> x = Collection(c)
>>> sensor0 = Sensor()
>>> sensor1 = Sensor(pos=[1,2,3], angle=180)
>>> x.displaySystem(sensors=[ sensor0,
... sensor1])
Parameters
----------
suppress : bool
If True, only return Figure information, do not show. Interactive mode must be off.
Default: False.
Example
-------
>>> ## Suppress matplotlib.pyplot.show()
>>> ## and returning figure from showing up
>>> from matplotlib import pyplot
>>> pyplot.ioff()
>>> figureData = Collection.displayFigure(suppress=True)
Parameters
----------
direc : bool
Set to True to show current directions and magnetization vectors.
Default: False
Return
------
matplotlib Figure object
graphics object is displayed through plt.show()
Example
-------
>>> from magpylib import source, Collection
>>> pm1 = source.magnet.Box(mag=[0,0,1000],dim=[1,1,1],pos=[-1,-1,-1],angle=45,axis=[0,0,1])
>>> pm2 = source.magnet.Cylinder(mag=[0,0,1000],dim=[2,2],pos=[0,-1,1],angle=45,axis=[1,0,0])
>>> pm3 = source.magnet.Sphere(mag=[0,0,1000],dim=3,pos=[-2,1,2],angle=45,axis=[1,0,0])
>>> C1 = source.current.Circular(curr=100,dim=6)
>>> col = Collection(pm1,pm2,pm3,C1)
>>> col.displaySystem()
Parameters
----------
subplotAx : matplotlib subplot axe instance
Use an existing matplotlib subplot instance to draw the 3D system plot into.
Default: None
Example
-------
>>> import numpy as np
>>> import matplotlib.pyplot as plt
>>> from magpylib.source.magnet import Box
>>> from magpylib import Collection
>>> #create collection of one magnet
>>> s1 = Box(mag=[ 500,0, 500], dim=[3,3,3], pos=[ 0,0, 3], angle=45, axis=[0,1,0])
>>> c = Collection(s1)
>>> #create positions
>>> xs = np.linspace(-8,8,100)
>>> zs = np.linspace(-6,6,100)
>>> posis = [[x,0,z] for z in zs for x in xs]
>>> #calculate fields
>>> Bs = c.getBsweep(posis)
>>> #reshape array and calculate amplitude
>>> Bs = np.array(Bs).reshape([100,100,3])
>>> Bamp = np.linalg.norm(Bs,axis=2)
>>> X,Z = np.meshgrid(xs,zs)
>>> # Define figure
>>> fig = plt.figure()
>>> ## Define ax for 2D
>>> ax1 = fig.add_subplot(1, 2, 1, axisbelow=True)
>>> ## Define ax for 3D displaySystem
>>> ax2 = fig.add_subplot(1, 2, 2, axisbelow=True,projection='3d')
>>> ## field plot 2D
>>> ax1.contourf(X,Z,Bamp,100,cmap='rainbow')
>>> U,V = Bs[:,:,0], Bs[:,:,2]
>>> ax1.streamplot(X, Z, U, V, color='k', density=2)
>>> ## plot Collection system in 3D ax subplot
>>> c.displaySystem(subplotAx=ax2)
Raises
------
AssertionError
If Marker position list is poorly defined. i.e. listOfPos=(x,y,z) instead of lisOfPos=[(x,y,z)]
"""
collection = Collection(sources)
if subplotAx is None:
fig = plt.figure(dpi=80, figsize=figsize)
ax = fig.gca(projection='3d')
else:
ax = subplotAx
# count magnets
Nm = 0
for s in collection.sources:
if type(s) is Box or type(s) is Cylinder or type(s) is Sphere:
Nm += 1
cm = plt.cm.hsv # Linter complains about this but it is working pylint: disable=no-member
# select colors
colors = [cm(x) for x in linspace(0, 1, Nm+1)]
ii = -1
SYSSIZE = finfo(float).eps # Machine Epsilon for moment
dipolesList = []
magnetsList = []
sensorsList = []
currentsList = []
markersList = []
# Check input and Add markers to the Markers list before plotting
for m in markers:
assert isDisplayMarker(m), "Invalid marker definition in displaySystem:" + str(
m) + ". Needs to be [vec3] or [vec3,string]"
markersList += [m]
for s in sensors:
if s == sensor1:
continue
else:
assert isSensor(s), "Invalid sensor definition in displaySystem:" + str(
s)
sensorsList.append(s)
for s in collection.sources:
if type(s) is Box:
ii += 1 # increase color counter
P = s.position
D = s.dimension/2
# create vertices in canonical basis
v0 = array([D, D*array([1, 1, -1]), D*array([1, -1, -1]), D*array([1, -1, 1]),
D*array([-1, 1, 1]), D*array([-1, 1, -1]), -D, D*array([-1, -1, 1])])
# rotate vertices + displace
v = array([angleAxisRotation_priv(s.angle, s.axis, d)+P for d in v0])
# create faces
faces = [[v[0], v[1], v[2], v[3]],
[v[0], v[1], v[5], v[4]],
[v[4], v[5], v[6], v[7]],
[v[2], v[3], v[7], v[6]],
[v[0], v[3], v[7], v[4]],
[v[1], v[2], v[6], v[5]]]
# plot
boxf = Poly3DCollection(
faces, facecolors=colors[ii], linewidths=0.5, edgecolors='k', alpha=1)
ax.add_collection3d(boxf)
# check system size
maxSize = amax(abs(v))
if maxSize > SYSSIZE:
SYSSIZE = maxSize
if direc is True:
s.color = colors[ii]
magnetsList.append(s)
elif type(s) is Cylinder:
ii += 1 # increase color counter
P = s.position
R, H = s.dimension/2
resolution = 20
# vertices
phis = linspace(0, 2*pi, resolution)
vertB0 = array([[R*cos(p), R*sin(p), -H] for p in phis])
vertT0 = array([[R*cos(p), R*sin(p), H] for p in phis])
# rotate vertices+displacement
vB = array(
[angleAxisRotation_priv(s.angle, s.axis, d)+P for d in vertB0])
vT = array(
[angleAxisRotation_priv(s.angle, s.axis, d)+P for d in vertT0])
# faces
faces = [[vT[i], vB[i], vB[i+1], vT[i+1]]
for i in range(resolution-1)]
faces += [vT, vB]
# plot
coll = Poly3DCollection(
faces, facecolors=colors[ii], linewidths=0.5, edgecolors='k', alpha=1)
ax.add_collection3d(coll)
# check system size
maxSize = max([amax(abs(vB)), amax(abs(vT))])
if maxSize > SYSSIZE:
SYSSIZE = maxSize
if direc is True:
s.color = colors[ii]
magnetsList.append(s)
elif type(s) is Sphere:
ii += 1 # increase color counter
P = s.position
R = s.dimension/2
resolution = 12
# vertices
phis = linspace(0, 2*pi, resolution)
thetas = linspace(0, pi, resolution)
vs0 = [[[R*cos(phi)*sin(th), R*sin(phi)*sin(th), R*cos(th)]
for phi in phis] for th in thetas]
# rotate vertices + displacement
vs = array(
[[angleAxisRotation_priv(s.angle, s.axis, v)+P for v in vss] for vss in vs0])
# faces
faces = []
for j in range(resolution-1):
faces += [[vs[i, j], vs[i+1, j], vs[i+1, j+1], vs[i, j+1]]
for i in range(resolution-1)]
# plot
boxf = Poly3DCollection(
faces, facecolors=colors[ii], linewidths=0.5, edgecolors='k', alpha=1)
ax.add_collection3d(boxf)
# check system size
maxSize = amax(abs(vs))
if maxSize > SYSSIZE:
SYSSIZE = maxSize
if direc is True:
s.color = colors[ii]
magnetsList.append(s)
elif type(s) is Line:
P = s.position
vs0 = s.vertices
# rotate vertices + displacement
vs = array(
[angleAxisRotation_priv(s.angle, s.axis, v)+P for v in vs0])
# plot
ax.plot(vs[:, 0], vs[:, 1], vs[:, 2], lw=1, color='k')
# check system size
maxSize = amax(abs(vs))
if maxSize > SYSSIZE:
SYSSIZE = maxSize
if direc is True:
# These don't move in the original object,
sCopyWithVertices = deepcopy(s)
sCopyWithVertices.vertices = vs # We just draw the frame rotation, discard changes
currentsList.append(sCopyWithVertices)
elif type(s) is Circular:
P = s.position
R = s.dimension/2
resolution = 20
# vertices
phis = linspace(0, 2*pi, resolution)
vs0 = array([[R*cos(p), R*sin(p), 0] for p in phis])
# rotate vertices + displacement
vs = array(
[angleAxisRotation_priv(s.angle, s.axis, v)+P for v in vs0])
# plot
ax.plot(vs[:, 0], vs[:, 1], vs[:, 2], lw=1, color='k')
# check system size
maxSize = amax(abs(vs))
if maxSize > SYSSIZE:
SYSSIZE = maxSize
if direc is True:
# Send the Circular vertice information
sCopyWithVertices = deepcopy(s)
sCopyWithVertices.vertices = vs # to the object drawing list
currentsList.append(sCopyWithVertices)
elif type(s) is Dipole:
P = angleAxisRotation(s.position, s.angle, s.axis)
maxSize = amax(abs(P))
if maxSize > SYSSIZE:
SYSSIZE = maxSize
dipolesList.append(s)
for m in markersList: # Draw Markers
ax.scatter(m[0], m[1], m[2], s=20, marker='x')
if(len(m) > 3):
zdir = None
ax.text(m[0], m[1], m[2], m[3], zdir)
# Goes up to 3rd Position
maxSize = max([abs(pos) for pos in m[:3]])
if maxSize > SYSSIZE:
SYSSIZE = maxSize
for s in sensorsList: # Draw Sensors
maxSize = max([abs(pos) for pos in s.position])
if maxSize > SYSSIZE:
SYSSIZE = maxSize
drawSensor(s,SYSSIZE,ax)
for d in dipolesList:
drawDipole(d.position, d.moment,
d.angle, d.axis,
SYSSIZE, ax)
if direc is True: # Draw the Magnetization axes and current directions
drawCurrentArrows(currentsList, SYSSIZE, ax)
drawMagAxis(magnetsList, SYSSIZE, ax)
#for tick in ax.xaxis.get_ticklabels()+ax.yaxis.get_ticklabels()+ax.zaxis.get_ticklabels():
# tick.set_fontsize(12)
ax.set_xlabel('x[mm]')#, fontsize=12)
ax.set_ylabel('y[mm]')#, fontsize=12) #change font size through rc parameters
ax.set_zlabel('z[mm]')#, fontsize=12)
ax.set(
xlim=(-SYSSIZE, SYSSIZE),
ylim=(-SYSSIZE, SYSSIZE),
zlim=(-SYSSIZE, SYSSIZE),
)
plt.tight_layout()
if suppress == True:
return plt.gcf()
else:
plt.show()
def optimize(self):
res = least_squares(self.func, self.initial,\
bounds = (self.lower_bound, self.upper_bound),\
ftol=1e-8, \
xtol=1e-8,verbose=2,\
max_nfev=self.balljoint_config['calibration']['max_nfev'])
field_strength = self.balljoint_config['field_strength']
magnet_pos = self.balljoint_config['magnet_pos']
magnet_angle = self.balljoint_config['magnet_angle']
sensor_pos = self.balljoint_config['sensor_pos']
sensor_angle = self.balljoint_config['sensor_angle']
field_strength, magnet_pos_offsets, magnet_angle_offsets, sensor_pos_offsets, sensor_angle_offsets = self.decode(
res.x)
sensors = self.gen_sensors(sensor_pos, sensor_pos_offsets,
sensor_angle, sensor_angle_offsets)
print("b_field_error with calibration: %f\n" % self.func(res.x)[0])
j = 0
pos = self.sensor_log['position']
for target in self.sensor_log['sensor_values']:
print("target b_field for %f %f %f" %
(pos[j][0], pos[j][1], pos[j][2]))
i = 0
for sens in sensors:
print('%.4f %.4f %.4f' %
(target[i][0], target[i][1], target[i][2]))
i = i + 1
print("b_field with calibration:")
c = Collection(self.gen_magnets(field_strength,magnet_pos,magnet_pos_offsets, \
magnet_angle,magnet_angle_offsets))
c.rotate(angle=pos[j][0] * 180.0 / math.pi,
axis=(1, 0, 0),
anchor=(0, 0, 0))
c.rotate(angle=pos[j][1] * 180.0 / math.pi,
axis=(0, 1, 0),
anchor=(0, 0, 0))
c.rotate(angle=pos[j][2] * 180.0 / math.pi,
axis=(0, 0, 1),
anchor=(0, 0, 0))
for sens in sensors:
mag = sens.getB(c)
print('%.4f %.4f %.4f' % (mag[0], mag[1], mag[2]))
print('----------------------------------')
j = j + 1
print("\noptimization results:\n")
for c in self.calib:
if c == 0:
print('field_strength')
print(field_strength)
self.balljoint_config['field_strength'] = field_strength
if c == 1:
print('magnet_pos_offsets')
print(magnet_pos_offsets)
self.balljoint_config[
'magnet_pos_offsets'] = magnet_pos_offsets
if c == 2:
print('magnet_angle_offsets')
print(magnet_angle_offsets)
self.balljoint_config[
'magnet_angle_offsets'] = magnet_angle_offsets
if c == 3:
print('sensor_pos_offsets')
print(sensor_pos_offsets)
self.balljoint_config[
'sensor_pos_offsets'] = sensor_pos_offsets
if c == 4:
print('sensor_angle_offsets')
print(sensor_angle_offsets)
self.balljoint_config[
'sensor_angle_offsets'] = sensor_angle_offsets
timestamp = time.strftime("%Y%m%d-%H%M%S")
input("Enter to write optimization to config file %s_%s..." %
(timestamp, self.config_file))
with open(timestamp + '_' + self.config_file, 'w') as file:
documents = dump(self.balljoint_config, file)
dim=(10, 10, 10),
pos=(10.392304845, -6, 0),
angle=60,
axis=(0, 0, 1)),
Box(mag=(0, 0, 500),
dim=(10, 10, 10),
pos=(-10.392304845, -6, 0),
angle=-60,
axis=(0, 0, 1))
]
mlab.options.offscreen = True
fig = mlab.figure(bgcolor=(1, 1, 1), size=(1500, 1500), fgcolor=(0, 0, 0))
for iter in range(126, 360):
c = Collection(gen_magnets())
c.rotate(iter, (0, 1, 0), (0, 0, 0))
x_lower, x_upper = -20, 20
y_lower, y_upper = -20, 20
z_lower, z_upper = -20, 20
grid_spacing_value = 1 #0.25
xd = int((x_upper - x_lower) / grid_spacing_value)
yd = int((y_upper - y_lower) / grid_spacing_value)
zd = int((z_upper - z_lower) / grid_spacing_value)
x, y, z = np.mgrid[x_lower:x_upper:xd * 1j, y_lower:y_upper:yd * 1j,
z_lower:z_upper:zd * 1j]
xs = np.linspace(x_lower, x_upper, xd)
ys = np.linspace(y_lower, y_upper, yd)
zs = np.linspace(z_lower, z_upper, zd)
Box(mag=(0, 500, 0), dim=(10, 10, 10), pos=(0, 12, 0)),
Box(mag=(0, 500, 0),
dim=(10, 10, 10),
pos=(10.392304845, -6, 0),
angle=60,
axis=(0, 0, 1)),
Box(mag=(0, 500, 0),
dim=(10, 10, 10),
pos=(-10.392304845, -6, 0),
angle=-60,
axis=(0, 0, 1))
]
# return [Box(mag=(0,500,0),dim=(10,10,10),pos=(0,12,0)), Box(mag=(0,-500,0),dim=(10,10,10),pos=(10.392304845,-6,0),angle=60, axis=(0,0,1)), Box(mag=(0,0,500),dim=(10,10,10),pos=(-10.392304845,-6,0),angle=-60, axis=(0,0,1))]
c = Collection(gen_magnets())
# calculate B-field on a grid
xs = np.linspace(-30, 30, 33)
zs = np.linspace(-30, 30, 44)
POS = np.array([(x, 0, z) for z in zs for x in xs])
# create figure
fig = plt.figure(figsize=(9, 5))
ax1 = fig.add_subplot(121, projection='3d') # 3D-axis
ax2 = fig.add_subplot(122) # 2D-axis
Bs = c.getB(POS).reshape(44, 33, 3) #<--VECTORIZED
X, Z = np.meshgrid(xs, zs)
U, V = Bs[:, :, 0], Bs[:, :, 2]
ax2.streamplot(X, Z, U, V, color=np.log(U**2 + V**2))
record = open("/home/letrend/workspace/roboy3/" + body_part + "_data0.log",
"w")
record.write(
"mx0 my0 mz0 mx1 my1 mz1 mx2 my2 mz3 mx3 my3 mz3 roll pitch yaw\n")
first = True
for iter in range(iterations):
rot = [
random.uniform(-50, 50),
random.uniform(-50, 50),
random.uniform(-90, 90)
]
c = Collection(gen_magnets())
c.rotate(rot[0], (1, 0, 0), anchor=(0, 0, 0))
c.rotate(rot[1], (0, 1, 0), anchor=(0, 0, 0))
c.rotate(rot[2], (0, 0, 1), anchor=(0, 0, 0))
data = []
for sens in sensors:
data.append(sens.getB(c))
record.write(
str(data[0][0]) + " " + str(data[0][1]) + " " + str(data[0][2]) + " " +
str(data[1][0]) + " " + str(data[1][1]) + " " + str(data[1][2]) + " " +
str(data[2][0]) + " " + str(data[2][1]) + " " + str(data[2][2]) + " " +
str(data[3][0]) + " " + str(data[3][1]) + " " + str(data[3][2]) + " " +
str(rot[0] / 180.0 * math.pi) + " " + str(rot[1] / 180.0 * math.pi) +
" " + str(rot[2] / 180.0 * math.pi) + "\n")
"""
Define and display the Electromagnetic Field contour of
a Dipole moment.
"""
from magpylib import source, Collection
import numpy as np
from matplotlib import pyplot as plt
d = source.moment.Dipole((100, 20, 300))
pmc = Collection(d)
fig = pmc.displaySystem(direc=True)
fig.suptitle("Source Moment")
xs = np.linspace(-15, 15, 50)
zs = np.linspace(-15, 15, 50)
Bs = np.array([[pmc.getB([x, 0, z]) for x in xs] for z in zs])
# display fields
fig = plt.figure(figsize=(10, 8), facecolor='w', dpi=80)
AXS = [fig.add_subplot(1, 1, i, axisbelow=True) for i in range(1, 2)]
ax1 = AXS[0]
X, Y = np.meshgrid(xs, zs)
U, V = Bs[:, :, 0], Bs[:, :, 2]
amp = np.sqrt(U**2 + V**2)
ax1.contourf(X, Y, amp, np.linspace(0, 130, 100), cmap=plt.cm.brg) # pylint: disable=no-member
ax1.streamplot(X, Y, U, V, color='w', density=3, linewidth=0.8)
ax1.set(title='B-field of Dipole Moment',
def MagneticSensorCallback(data):
global k
global j
global pbar
global sensor_value_counter
global values
if k >= len(ball_pos):
rospy.signal_shutdown("no more")
return
if data.id is not int(balljoint_config['id']):
return
sensor_value_counter = sensor_value_counter + 1
if sensor_value_counter < 10:
pbar = tqdm(total=average_samples)
j = 0
i = 0
values = []
for sens in data.x:
values.append([data.x[i], data.y[i], data.z[i]])
i = i + 1
return
if j < average_samples:
pbar.update(1)
i = 0
for sens in data.x:
values[i][0] = values[i][0] + data.x[i]
values[i][1] = values[i][1] + data.y[i]
values[i][2] = values[i][2] + data.z[i]
i = i + 1
j = j + 1
return
j = 0
i = 0
for sens in data.x:
values[i][0] = values[i][0] / average_samples
values[i][1] = values[i][1] / average_samples
values[i][2] = values[i][2] / average_samples
i = i + 1
sensor_value_counter = 0
sensor_log['position'].append(ball_pos[k])
sensor_log['sensor_values'].append(values)
print(sensor_log)
magnets = Collection(gen_magnets(balljoint_config['field_strength'],balljoint_config['magnet_dimension'],balljoint_config['magnet_pos'],balljoint_config['magnet_pos_offsets'], \
balljoint_config['magnet_angle'],balljoint_config['magnet_angle_offsets']))
magnets.rotate(ball_pos[k][0] * 180 / math.pi, (1, 0, 0), anchor=(0, 0, 0))
magnets.rotate(ball_pos[k][1] * 180 / math.pi, (0, 1, 0), anchor=(0, 0, 0))
magnets.rotate(ball_pos[k][2] * 180 / math.pi, (0, 0, 1), anchor=(0, 0, 0))
print('simulated:')
for sens in sensors:
print(sens.getB(magnets))
print('recorded:')
for v in values:
print(v)
k = k + 1
input("Press Enter for next ball position: %f %f %f" %
(ball_pos[k][0], ball_pos[k][1], ball_pos[k][2]))
