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
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
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)
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)
