def get_geometry(self):
"""
Get relevant geometry for vehicle
"""
if self._vehicle_stl is None:
all_geom = tba.get_all_geom_set()
desired_parts = (all_geom - get_parts_excluded() -
tba.geom_sets["never_in_cabin"] - self.LITTERS
| self.DOORS)
self._vehicle_stl = tba.load_geometry(desired_parts,
single_file=False)
return self._vehicle_stl
def get_geometry(self):
"""
Get relevant geometry for vehicle
"""
if self._vehicle_stl is None:
all_geom = tba.get_all_geom_set()
desired_parts = (all_geom - get_parts_excluded()
- tba.geom_sets["never_in_cabin"]
- self.LITTERS
| self.DOORS)
self._vehicle_stl = tba.load_geometry(desired_parts,
single_file=False)
return self._vehicle_stl
def __init__(self, settings_f):
"""
Setup field of fire metrics based on settings read in from file.
"""
##pass setting to the test bench api
settings_dict = tba.load_settings(settings_f)
## Optional test bench settings
self.show_3d = settings_dict.get("show_3d", False)
horizontal_divs = settings_dict.get("horizontal_divs", 720)
self.up_direction = settings_dict.get("up_direction",
np.array([0, 1.0, 0]))
self.ground = settings_dict.get("ground", np.array([0, 1.0, 0]))
## Set up some constant parameters
self.hor_sweep = np.linspace(0, 2 * pi, horizontal_divs)
## How many rays are considered contiguous - 3degrees of arc
self.contiguous = int(ceil(3 * horizontal_divs / 360.0))
self.incr_elev = 2 * pi / 720.0
## Get the data for the weapon.
fof_data = tba.get_data(parts_of_interest)["Weapon_Station_Remote"]
## Get a weapon object. API will enforce there is only one.
wep_name = fof_data.keys()[0]
self.weapon = Weapon_Station(wep_name, fof_data)
## Specify the classes of objects we want geometry for and load them in.
class_set = tba.get_all_geom_set(
) - tba.geom_sets["never_exterior_classes"]
surface = tba.load_geometry(class_set, single_file=True)
## Make a binary space partition to speed up intersection calculations
self.nodes = np.vstack((surface['x'], surface['y'], surface['z'])).T
self.tris = surface['tris']
self.b_tree = BSP_Tree(self.nodes, self.tris)
self.b_tree.generate_tree()
## Set up result storage.
self.traverse_results = []
def __init__(self, settings_f):
"""
Setup field of fire metrics based on settings read in from file.
"""
##pass setting to the test bench api
settings_dict = tba.load_settings(settings_f)
## Optional test bench settings
self.show_3d = settings_dict.get("show_3d", False)
horizontal_divs = settings_dict.get("horizontal_divs", 720)
self.up_direction = settings_dict.get("up_direction", np.array([0, 1.0, 0]))
self.ground = settings_dict.get("ground", np.array([0, 1.0, 0]))
## Set up some constant parameters
self.hor_sweep = np.linspace(0, 2 * pi, horizontal_divs)
## How many rays are considered contiguous - 3degrees of arc
self.contiguous = int(ceil(3 * horizontal_divs / 360.0))
self.incr_elev = 2 * pi / 720.0
## Get the data for the weapon.
fof_data = tba.get_data(parts_of_interest)["Weapon_Station_Remote"]
## Get a weapon object. API will enforce there is only one.
wep_name = fof_data.keys()[0]
self.weapon = Weapon_Station(wep_name, fof_data)
## Specify the classes of objects we want geometry for and load them in.
class_set = tba.get_all_geom_set() - tba.geom_sets["never_exterior_classes"]
surface = tba.load_geometry(class_set, single_file=True)
## Make a binary space partition to speed up intersection calculations
self.nodes = np.vstack((surface['x'], surface['y'], surface['z'])).T
self.tris = surface['tris']
self.b_tree = BSP_Tree(self.nodes, self.tris)
self.b_tree.generate_tree()
## Set up result storage.
self.traverse_results = []
def __init__(self, settings_f):
"""
Setup vision metrics based on settings read in from file.
"""
##pass setting to the test bench api
settings_dict = tba.load_settings(settings_f)
## Optional test bench settings
self.show_3d = settings_dict.get("show_3d", False)
horizontal_divs = settings_dict.get("horizontal_divs", 720)
self.focal_length_multiplier = settings_dict.get(
"focal_length_multiplier", 1.5)
self.far_dist = settings_dict.get("far_dist", 20.0)
self.up_direction = settings_dict.get("up_direction",
np.array([0, 1.0, 0]))
self.fore_direction = settings_dict.get("fore_direction",
np.array([0, 0, -1.0]))
self.ground = settings_dict.get("ground", np.array([0, 1.0, 0]))
## Set up some constant parameters
self.hor_sweep = np.linspace(0, 2 * pi, horizontal_divs)
self.target_points_horizon = np.zeros(horizontal_divs, np.uint32)
## Get a dictionary of parts and properties form the api (periscopes, manikins, screens)
fov_data = tba.get_data(parts_of_interest)
## Get Periscope objects for any that are found
self.periscopes = [
Vision_Device(p, fov_data["Periscope"])
for p in fov_data["Periscope"]
]
## Get Manikin objects for the vehicle occupants that have vision requirements
m_data = fov_data["Manikin"]
req_roles = ["driver", "vehicle_commander", "troop_commander"]
vis_roles = lambda m: m_data[m]["properties"]["vehicle_role"
] in req_roles
self.manikins = [
Manikin(m, fov_data["Manikin"]) for m in m_data if vis_roles(m)
]
## Need exactly one of each
roles = [m.vehicle_role for m in self.manikins]
if len(set(roles)) != len(req_roles):
msg = "Didn't get 1 of each vehicle_role={} instead got={}".format(
req_roles, roles)
raise ValueError(msg)
## Specify the classes of objects we want geometry for.
class_set = tba.get_all_geom_set(
) - tba.geom_sets["never_exterior_classes"]
## And load them all as an effective single file
surface = tba.load_geometry(class_set, single_file=True)
## Make a binary space partition to speed up intersection calculations
self.nodes = np.vstack((surface['x'], surface['y'], surface['z'])).T
self.tris = surface['tris']
self.b_tree = BSP_Tree(self.nodes, self.tris)
self.b_tree.generate_tree()
## TODO this won't cope with unusual orientations
## determine orientation of the vehicle given the direction up and forward
fore = np.dot(self.nodes, self.fore_direction).min()
fore = np.min(surface["z"])
self.side_direction = np.cross(self.up_direction, self.fore_direction)
side_array = np.dot(self.nodes, self.side_direction)
self.z_ground = np.dot(self.ground, self.up_direction)
center = (side_array.min() + side_array.max()) / 2.0
center = (np.min(surface["x"]) + np.max(surface["x"])) * 0.5
## Find the vehicle origin (point on ground at front on centerline)
self.veh_origin = np.array([center, self.z_ground, fore])
logging.info("Vehicle origin is at {}".format(self.veh_origin))
self.tran_veh = translate(self.veh_origin)
self.fore_aft = [None] * len(self.periscopes)
self.uplook = np.array([-1000.0] * len(self.periscopes))
self.hit = []
self.hor_fans = []
def __init__(self, settings_f):
"""
Setup vision metrics based on settings read in from file.
"""
##pass setting to the test bench api
settings_dict = tba.load_settings(settings_f)
## Optional test bench settings
self.show_3d = settings_dict.get("show_3d", False)
horizontal_divs = settings_dict.get("horizontal_divs", 720)
self.focal_length_multiplier = settings_dict.get("focal_length_multiplier", 1.5)
self.far_dist = settings_dict.get("far_dist", 20.0)
self.up_direction = settings_dict.get("up_direction", np.array([0, 1.0, 0]))
self.fore_direction = settings_dict.get("fore_direction", np.array([0, 0, -1.0]))
self.ground = settings_dict.get("ground", np.array([0, 1.0, 0]))
## Set up some constant parameters
self.hor_sweep = np.linspace(0, 2 * pi, horizontal_divs)
self.target_points_horizon = np.zeros(horizontal_divs, np.uint32)
## Get a dictionary of parts and properties form the api (periscopes, manikins, screens)
fov_data = tba.get_data(parts_of_interest)
## Get Periscope objects for any that are found
self.periscopes = [Vision_Device(p, fov_data["Periscope"]) for p in fov_data["Periscope"]]
## Get Manikin objects for the vehicle occupants that have vision requirements
m_data = fov_data["Manikin"]
req_roles = ["driver", "vehicle_commander", "troop_commander"]
vis_roles = lambda m: m_data[m]["properties"]["vehicle_role"] in req_roles
self.manikins = [Manikin(m, fov_data["Manikin"]) for m in m_data if vis_roles(m)]
## Need exactly one of each
roles = [m.vehicle_role for m in self.manikins]
if len(set(roles)) != len(req_roles):
msg = "Didn't get 1 of each vehicle_role={} instead got={}".format(req_roles, roles)
raise ValueError(msg)
## Specify the classes of objects we want geometry for.
class_set = tba.get_all_geom_set() - tba.geom_sets["never_exterior_classes"]
## And load them all as an effective single file
surface = tba.load_geometry(class_set, single_file=True)
## Make a binary space partition to speed up intersection calculations
self.nodes = np.vstack((surface["x"], surface["y"], surface["z"])).T
self.tris = surface["tris"]
self.b_tree = BSP_Tree(self.nodes, self.tris)
self.b_tree.generate_tree()
## TODO this won't cope with unusual orientations
## determine orientation of the vehicle given the direction up and forward
fore = np.dot(self.nodes, self.fore_direction).min()
fore = np.min(surface["z"])
self.side_direction = np.cross(self.up_direction, self.fore_direction)
side_array = np.dot(self.nodes, self.side_direction)
self.z_ground = np.dot(self.ground, self.up_direction)
center = (side_array.min() + side_array.max()) / 2.0
center = (np.min(surface["x"]) + np.max(surface["x"])) * 0.5
## Find the vehicle origin (point on ground at front on centerline)
self.veh_origin = np.array([center, self.z_ground, fore])
logging.info("Vehicle origin is at {}".format(self.veh_origin))
self.tran_veh = translate(self.veh_origin)
self.fore_aft = [None] * len(self.periscopes)
self.uplook = np.array([-1000.0] * len(self.periscopes))
self.hit = []
self.hor_fans = []
if __name__ == "__main__":
from rpl.tools.api import test_bench_api as tb_api
SETTINGS = tb_api.load_settings("settings.js")
DOORS = {'Hatch_Assembly_Rear_Ramp', 'Hatch_Assembly_Personnel_Door'}
HATCHES = {'Hatch_Assembly_Driver_Commander', 'Hatch_Assembly_Cargo'}
HULLS = {
"Hull_Assembly_Parametric", 'Hull_Assembly_Example_With_Connector'
}
MANIKINS = {"Manikin"}
# Special labels applied to specific types of voxels
VOXEL_LABELS = {2: HULLS, 4: DOORS, 8: HATCHES, 16: MANIKINS}
vehicle_surfs = tb_api.load_geometry(tb_api.get_all_geom_set() - MANIKINS,
single_file=False)
# Modify node coords so object aligns with cartesian axes of occ voxel grid, +z=up
# Vector to rotate around is cross product of current z axis and sfc normal
veh_up = np.array([0., 1., 0.])
rot_around = np.cross(veh_up, np.array([0, 0, 1]))
rot_ang = -np.arccos(veh_up[2])
tr_mat = geom_utils.rotation_about_vector(rot_around, rot_ang)
# voxel_data = main(vehicle_surfs, tr_mat, VOXEL_LABELS, SETTINGS)
vox_veh_folder = r"voxelated_models/vehicles/{}/{}".format(
SETTINGS["run_id"], SETTINGS["voxel_size"])
vox_veh_file = "voxels_{}_vox{}_hacked".format(SETTINGS["run_id"],
SETTINGS["voxel_size"])
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)