This page was generated by nbsphinx from docs/notebooks/motion_list/LaPDXYExclusion.ipynb.
LaPDXYExclusion Overviewļ
[1]:
%matplotlib inline
[2]:
import numpy as np
import matplotlib.pyplot as plt
import sys
import xarray as xr
from matplotlib.patches import Polygon
sys.executable;
[3]:
try:
from bapsf_motion.motion_builder.exclusions import (
CircularExclusion,
DividerExclusion,
GovernExclusion,
LaPDXYExclusion,
)
except ModuleNotFoundError:
from pathlib import Path
HERE = Path().cwd()
BAPSF_MOTION = (HERE / ".." / ".." / ".." ).resolve()
sys.path.append(str(BAPSF_MOTION))
from bapsf_motion.motion_builder.exclusions import (
CircularExclusion,
DividerExclusion,
GovernExclusion,
LaPDXYExclusion,
)
[4]:
plt.rcParams.update(
{
# "figure.figsize": [12, 0.56 * 12],
"figure.figsize": [10, 0.8 * 10],
"font.size": 16,
}
)
Usageļ
Direct usage should never be needed, since the MotionBuilder will handle this given the correct configuration is given to MotionBuilder. The appropriate TOML or dictionary like configurations can be found in the documentation for LaPDXYExclusion.
Is a GovernExclusionļ
LaPDXYExclusion is a subclass of GovernExclusion. This means the mask generated by LaPDXYExclusion will examine the existing global mask to generate its own mask, and that generated mask will replace the global mask. As a result, there should only be one GovernExclusion used wheneve constructing a motion space.
[5]:
issubclass(LaPDXYExclusion, GovernExclusion)
[5]:
True
Is a Compound Exclusionļ
This means LaPDXYExclusion leverages other exclusion classes to generate its exclusion layer. These exclusions can be view with the composed_exclusions attribute, which you can see in the next section.
Defining a LaPDXYExclusionļ
Create an initial global mask.
[6]:
size = 111
side = np.linspace(-55, 55, num=size)
ds = xr.Dataset(
{"mask": (("x", "y"), np.ones((size, size), dtype=bool))},
coords={
"x": side,
"y": side,
},
)
The default configuration parameters for LaPDXYExclusion define a probe drive beting deployed on the East side of the LaPD.
[7]:
ex = LaPDXYExclusion(ds)
ds.mask.plot(x="x", y="y");
plt.scatter(
ex.insertion_point[0],
ex.insertion_point[1],
marker="+",
color="black",
s=8**2,
)
axis = plt.gca()
axis.set_xlim(-60, 60)
axis.set_ylim(-60, 60)
[7]:
(-60.0, 60.0)
The configuration dictionary for this exclusion looks likeā¦
[8]:
ex.config
[8]:
{'diameter': 100,
'type': 'lapd_xy',
'port_location': 0,
'pivot_radius': 58.771,
'cone_full_angle': 58,
'include_cone': True}
You can see the exclusion is composed of 4 other exclusions, 1x Shadow2DExclusion, 1x CircularExclusion, and 3x DividerExclusions.
[9]:
ex.composed_exclusions
[9]:
{'shadow': <bapsf_motion.motion_builder.exclusions.shadow.Shadow2DExclusion at 0x7fdaa8a11a90>,
'chamber': <bapsf_motion.motion_builder.exclusions.circular.CircularExclusion at 0x7fdaa840a0d0>,
'port': <bapsf_motion.motion_builder.exclusions.divider.DividerExclusion at 0x7fdaa82e22c0>,
'divider_upper': <bapsf_motion.motion_builder.exclusions.divider.DividerExclusion at 0x7fdaa82e2190>,
'divider_lower': <bapsf_motion.motion_builder.exclusions.divider.DividerExclusion at 0x7fdaa81915b0>}
Letās make a slightly more complicated LaPD exclusion layer. In this ācomplicatedā scenario letās assume the probe drive is being deployed on the West side of the LaPD and there is a circular obstruction at the center of the chamber.
[10]:
# Reset the motion space
size = 111
side = np.linspace(-55, 55, num=size)
ds = xr.Dataset(
{"mask": (("x", "y"), np.ones((size, size), dtype=bool))},
coords={
"x": side,
"y": side,
},
)
# Add circular obstruction at the center
ex_1 = CircularExclusion(ds, radius=5, center=(0,0), exclude="inside")
# Define West side lapd XY exclusion
ex = LaPDXYExclusion(ds, port_location="W")
# plot mask
ds.mask.plot(x="x", y="y");
plt.scatter(
ex.insertion_point[0],
ex.insertion_point[1],
marker="+",
color="black",
s=8**2,
)
axis = plt.gca()
axis.set_xlim(-60, 60)
axis.set_ylim(-60, 60)
---------------------------------------------------------------------------
ValueError Traceback (most recent call last)
Cell In[10], line 16
12 # Add circular obstruction at the center
13 ex_1 = CircularExclusion(ds, radius=5, center=(0,0), exclude="inside")
14
15 # Define West side lapd XY exclusion
---> 16 ex = LaPDXYExclusion(ds, port_location="W")
17
18 # plot mask
19 ds.mask.plot(x="x", y="y");
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/bapsf_motion/motion_builder/exclusions/lapd.py:173, in LaPDXYExclusion.__init__(self, ds, diameter, pivot_radius, port_location, cone_full_angle, include_cone, skip_ds_add)
159 def __init__(
160 self,
161 ds: xr.Dataset,
(...) 169 ):
170 # pre-define attributes that will be fully defined by self._validate_inputs()
171 self._insertion_point = None
--> 173 super().__init__(
174 ds,
175 diameter=diameter,
176 pivot_radius=pivot_radius,
177 port_location=port_location,
178 cone_full_angle=cone_full_angle,
179 include_cone=include_cone,
180 skip_ds_add=skip_ds_add,
181 )
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/bapsf_motion/motion_builder/exclusions/base.py:70, in BaseExclusion.__init__(self, ds, skip_ds_add, **kwargs)
67 return
69 # store this mask to the Dataset
---> 70 self.regenerate_exclusion()
72 # update the global mask
73 self.update_global_mask()
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/bapsf_motion/motion_builder/exclusions/base.py:212, in BaseExclusion.regenerate_exclusion(self)
204 raise RuntimeError(
205 f"For exclusion {self.name} skip_ds_add={self.skip_ds_add} and thus "
206 f"the exclusion can not be regenerated and updated in the Dataset. "
207 f"To get the exclusion matrix use the 'ex.exclusion' property."
208 )
210 self.composed_exclusions.clear()
--> 212 self._ds[self.name] = self._generate_exclusion()
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/bapsf_motion/motion_builder/exclusions/lapd.py:307, in LaPDXYExclusion._generate_exclusion(self)
302 def _generate_exclusion(self):
303 """
304 Generate and return the boolean mask corresponding to the
305 exclusion configuration.
306 """
--> 307 ex = self._generate_shadow_exclusion()
308 self.composed_exclusions["shadow"] = ex
310 ex = self._generate_chamber_exclusion()
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/bapsf_motion/motion_builder/exclusions/lapd.py:418, in LaPDXYExclusion._generate_shadow_exclusion(self)
417 def _generate_shadow_exclusion(self):
--> 418 ex = Shadow2DExclusion(
419 self._ds,
420 skip_ds_add=True,
421 source_point=self.insertion_point,
422 )
423 return ex
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/bapsf_motion/motion_builder/exclusions/shadow.py:97, in Shadow2DExclusion.__init__(self, ds, source_point, skip_ds_add)
94 self._boundaries = None
95 self._insertion_edge_indices = None
---> 97 super().__init__(
98 ds,
99 source_point=source_point,
100 skip_ds_add=skip_ds_add,
101 )
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/bapsf_motion/motion_builder/exclusions/base.py:66, in BaseExclusion.__init__(self, ds, skip_ds_add, **kwargs)
64 self._stored_exclusion = None
65 if self.skip_ds_add:
---> 66 self._stored_exclusion = self._generate_exclusion()
67 return
69 # store this mask to the Dataset
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/bapsf_motion/motion_builder/exclusions/shadow.py:190, in Shadow2DExclusion._generate_exclusion(self)
186 corner_rays = self._build_corner_rays(edge_pool)
188 # Reduce corner rays
189 # - remove corner arrays that point to points behind nearer edges
--> 190 ray_mask = self._build_corner_ray_mask(corner_rays, edge_pool)
191 corner_rays = corner_rays[ray_mask]
193 # Build an array of fanned rays from all the corner rays
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/bapsf_motion/motion_builder/exclusions/shadow.py:314, in Shadow2DExclusion._build_corner_ray_mask(self, corner_rays, edge_pool)
303 # determine if a corner_ray intersects an edge that is closer
304 # to the insertion point
305 # - solving the eqn:
(...) 311 # closer edge to the insertion point
312 #
313 point_deltas = edge_pool[..., 0, :] - self.source_point
--> 314 denominator = np.cross(corner_rays, edge_vectors[:, np.newaxis, ...]).swapaxes(
315 0, 1
316 )
317 mu_array = np.cross(point_deltas, edge_vectors) / denominator
318 nu_array = (
319 np.cross(point_deltas[:, np.newaxis, ...], corner_rays).swapaxes(0, 1)
320 / denominator
321 )
File ~/checkouts/readthedocs.org/user_builds/bapsf-motion/envs/latest/lib/python3.13/site-packages/numpy/_core/numeric.py:1679, in cross(a, b, axisa, axisb, axisc, axis)
1677 b = moveaxis(b, axisb, -1)
1678 if a.shape[-1] != 3 or b.shape[-1] != 3:
-> 1679 raise ValueError(
1680 f"Both input arrays must be (arrays of) 3-dimensional vectors, "
1681 f"but they are {a.shape[-1]} and {b.shape[-1]} dimensional instead."
1682 )
1684 # Create the output array
1685 shape = *broadcast(a[..., 0], b[..., 0]).shape, 3
ValueError: Both input arrays must be (arrays of) 3-dimensional vectors, but they are 2 and 2 dimensional instead.
Now you can see the component Shadow2DExclusion is casting a shadow from the center circular exclusion, so the probe can not be moved to that location.
The confiruation for this setup looks likeā¦
[11]:
ex.config
[11]:
{'diameter': 100,
'type': 'lapd_xy',
'port_location': 0,
'pivot_radius': 58.771,
'cone_full_angle': 58,
'include_cone': True}