Merge branch 'main' of https://github.uconn.edu/tjs20011/SDP-37-Model

AUVSim/__init__.py

@@ -1,5 +1,5 @@
 from .auv import (
-    AUV,
-    AUVPath,
-    AUVPathGen
+    AUV as AUV,
+    AUVPath as AUVPath,
+    AUVPathGen as AUVPathGen,
 )

AUVSim/auv.py

@@ -1,23 +1,31 @@
-from Raytrace.TriangleMesh import TriangleMesh, Ray
+from Raytrace import TriangleMesh
 from Raytrace.SideScan import SideScan
 import numpy as np
 from typing import Any
+from CustomTypes import Ray, Vector3, Vector3Array
+
 class AUV:
     ideal_distance:float # Currently unused
-    start_pos:np.ndarray
-    start_facing:np.ndarray
-    def __init__(self, position:np.ndarray, facing:np.ndarray):
+    start_pos:Vector3
+    start_facing:Vector3
+    def __init__(self,
+                 position:Vector3,
+                 facing:Vector3,
+                 ideal_distance:float = -1,
+                 ):
         self.start_pos = position
         self.start_facing = facing
+        self.ideal_distance = ideal_distance
 class AUVPath:
-    positions:np.ndarray[float, Any]
-    facings:np.ndarray[float, Any]
+    positions:Vector3Array
+    facings:Vector3Array
 
-    def __init__(self, positions:np.ndarray, facings:np.ndarray):
+    def __init__(self, positions:Vector3Array, facings:Vector3Array):
         self.positions = positions
         self.facings = facings
-    def as_rays(self):
-        return [Ray(i, j) for i, j in zip(self.facings, self.positions)]
+    @property
+    def rays(self) -> list[Ray]:
+        return list(map(Ray, self.facings, self.positions))
 
 class AUVPathGen:
     mesh:TriangleMesh
@@ -50,10 +58,8 @@ def get_path(self, travel_distance:float, samples:int) -> AUVPath:
             # point in the direction that the hull is sloping
             rise = (ray_dist - prev_dist) * side_ray.direction
             if not (np.isfinite(ray_dist) and np.isfinite(prev_dist)):
-                rise = np.zeros(3)
+                rise = Vector3(0, 0, 0)
             new_facing = normalize(facings[-1] + rise)
             facings.append(new_facing)
 
-        np_positions = np.array(positions)
-        np_facings = np.array(facings)
-        return AUVPath(np_positions, np_facings)
+        return AUVPath(Vector3Array(positions), Vector3Array(facings))

CustomTypes/.gitignore

@@ -0,0 +1 @@
+__pycache__/

CustomTypes/__init__.py

@@ -0,0 +1,11 @@
+from .custom_np import CustomNP as CustomNP
+from .custom_types import (
+    Vector3 as Vector3,
+    Triangle as Triangle,
+    Ray as Ray,
+)
+from .custom_arrays import (
+    FloatArray as FloatArray,
+    TriangleArray as TriangleArray,
+    Vector3Array as Vector3Array,
+)

CustomTypes/custom_arrays.py

@@ -0,0 +1,54 @@
+from typing import Any, Iterable, Literal, overload
+import numpy as np
+
+from . import CustomNP, Triangle, Vector3
+
+class FloatArray(CustomNP):
+    def __new__(cls,
+                content: Iterable[float]|np.ndarray|None = None,
+                ):
+        if isinstance(content, np.ndarray):
+            if content.ndim != 1: raise ValueError(content.shape) # must be 1d
+            return content.view(cls)
+        if content is None:
+            return np.ndarray((0,), float).view(cls)
+        return np.array(content).view(cls)
+    def __getitem__(self, index):
+        if isinstance(index, slice): return super().__getitem__(index).view(type(self))
+        return super().__getitem__(index)
+
+class Vector3Array(CustomNP):
+    def __new__(cls,
+                content: Iterable[Vector3]|np.ndarray|None = None,
+                ):
+        if isinstance(content, np.ndarray):
+            if content.ndim == 1: content = content.reshape((1,) + content.shape)
+            if content.ndim != 2: raise ValueError(content.shape) # must be 1d or 2d
+            if content.shape[1]  != 3: raise ValueError(content.shape) # must be shape (n, 3)
+            return content.view(cls)
+        if content is None:
+            return np.ndarray((0, 3), float).view(cls)
+        return np.array(content).view(cls)
+    def __getitem__(self, index):
+        if isinstance(index, slice): return super().__getitem__(index).view(type(self))
+        return super().__getitem__(index)
+
+class TriangleArray(CustomNP):
+    def __new__(cls,
+                content: Iterable[Triangle]|np.ndarray|None = None,
+                ):
+        if isinstance(content, np.ndarray):
+            if content.ndim == 2: content = content.reshape((1,) + content.shape)
+            if content.ndim != 3: raise ValueError(content.shape) # must be 2d or 3d
+            if content.shape[1] != 3 or content.shape[2] != 3: raise ValueError(content.shape) # must be shape (n, 3, 3)
+            return content.view(cls)
+        if content is None:
+            return np.ndarray((0, 3, 3), float).view(cls)
+        return np.array(content).view(cls)
+    def __getitem__(self, index):
+        if isinstance(index, slice): return super().__getitem__(index).view(type(self))
+        return super().__getitem__(index)
+    @property
+    def verticies(self) -> tuple[Vector3Array, Vector3Array, Vector3Array]:
+        v0, v1, v2 = self.swapaxes(0, 1)
+        return (v0.view(Vector3Array), v1.view(Vector3Array), v2.view(Vector3Array))

CustomTypes/custom_arrays.pyi

@@ -0,0 +1,53 @@
+import numpy as np
+from typing import Any, Iterable, Literal, Self, Type, TypeVar, overload
+
+from . import CustomNP, Triangle, Vector3
+
+class FloatArray(CustomNP[tuple[int, Literal[3]], np.dtype[np.float_]]):
+    @overload
+    def __new__(cls) -> FloatArray:...
+    @overload
+    def __new__(cls, content: Iterable[float]) -> FloatArray:...
+    @overload
+    def __new__(cls, content: np.ndarray[tuple[int], np.dtype[np.float_]]) -> FloatArray:...
+
+    @overload # type: ignore
+    def __getitem__(self, index:int) -> float: ...
+    @overload
+    def __getitem__(self, index:slice) -> Self: ...
+
+class Vector3Array(CustomNP[tuple[int, Literal[3]], np.dtype[np.float_]]):
+    @overload
+    def __new__(cls) -> Vector3Array:...
+    @overload
+    def __new__(cls, content: Iterable[Vector3]) -> Vector3Array:...
+    @overload
+    def __new__(cls, content: np.ndarray[tuple[int, Literal[3]], np.dtype[np.float_]]) -> Vector3Array:...
+
+    @overload # type: ignore
+    def __getitem__(self, index:int) -> Vector3: ...
+    @overload
+    def __getitem__(self, index:tuple[int, Literal[0, 1, 2]]) -> float: ...
+    @overload
+    def __getitem__(self, index:slice) -> Self: ...
+
+class TriangleArray(CustomNP[tuple[int, Literal[3], Literal[3]], np.dtype[np.float_]]):
+    @overload
+    def __new__(cls) -> TriangleArray:...
+    @overload
+    def __new__(cls, content: Iterable[Triangle]) -> TriangleArray:...
+    @overload
+    def __new__(cls, content: np.ndarray[tuple[int, Literal[3], Literal[3]], np.dtype[np.float_]]) -> TriangleArray:...
+
+    @overload # type: ignore
+    def __getitem__(self, index:int) -> Triangle: ...
+    @overload
+    def __getitem__(self, index:tuple[int, Literal[0, 1, 2]]) -> Vector3: ...
+    @overload
+    def __getitem__(self, index:tuple[int, Literal[0, 1, 2], Literal[0, 1, 2]]) -> float: ...
+    @overload
+    def __getitem__(self, index:slice) -> Self: ...
+
+    @property
+    def verticies(self) -> tuple[Vector3Array, Vector3Array, Vector3Array]: ...
+

CustomTypes/custom_np.py

@@ -0,0 +1,21 @@
+
+from typing import Generic, TypeVar, Self
+import numpy as np
+
+
+_S = TypeVar('_S', bound=tuple)
+_T = TypeVar('_T', bound=np.dtype)
+class CustomNP(np.ndarray[_S, _T]):
+    def __add__(self, other):
+        return super().__add__(other).view(type(self))
+    def __sub__(self, other):
+        return super().__sub__(other).view(type(self))
+    def __mul__(self, other):
+        return super().__mul__(other).view(type(self))
+    def __truediv__(self, other):
+        return super().__truediv__(other).view(type(self))
+    def __rtruediv__(self, other):
+        return super().__rtruediv__(other).view(type(self))
+    @property
+    def nd(self):
+        return self.view(np.ndarray)

CustomTypes/custom_np.pyi

@@ -0,0 +1,15 @@
+from typing import TypeVar, Self
+import numpy as np
+
+
+_S = TypeVar('_S', bound=tuple)
+_T = TypeVar('_T', bound=np.dtype)
+class CustomNP(np.ndarray[_S, _T]):
+    def __add__(self, other:Self) -> Self: ... # type: ignore
+    def __sub__(self, other:Self) -> Self: ... # type: ignore
+    def __mul__(self, other:Self|float) -> Self: ... # type: ignore
+    def __truediv__(self, other:Self|float) -> Self: ... # type: ignore
+    def __rtruediv__(self, other:float) -> Self: ... # type: ignore
+
+    @property
+    def nd(self) -> np.ndarray: ...

CustomTypes/custom_types.py

@@ -0,0 +1,42 @@
+from typing import Any, Iterable, Literal, Self, overload
+import numpy as np
+from . import CustomNP
+
+class Vector3(CustomNP):
+    def __new__(cls,
+                x: float | tuple[float, float, float] | Self, y = 0, z = 0):
+        if isinstance(x, tuple):
+            x, y, z = x
+        elif isinstance(x, Vector3):
+            x, y, z = x
+        assert isinstance(x, (float, int, np.floating))
+        return np.array([x, y, z]).view(cls)
+    def __str__(self):
+        return f"({self[0]}, {self[1]}, {self[2]})"
+    def __repr__(self):
+        return f"Vector3({self[0]}, {self[1]}, {self[2]})"
+
+class Triangle(CustomNP):
+    def __new__(cls,
+                v0: Vector3 | tuple[Vector3, Vector3, Vector3],
+                v1: Vector3 = Vector3(0, 0, 0),
+                v2: Vector3 = Vector3(0, 0, 0),
+                ) -> 'Triangle':
+        if isinstance(v0, tuple): 
+            v0, v1, v2 = v0
+        return np.array([v0, v1, v2]).view(cls)
+
+    def __str__(self) -> str:
+        return f"({self[0]}, {self[1]}, {self[2]})"
+    def __repr__(self) -> str:
+        return f"Vector3({self[0]}, {self[1]}, {self[2]})"
+
+class Ray:
+    direction:Vector3
+    origin:Vector3
+    def __init__(self,
+                 direction:Vector3,
+                 origin:Vector3,
+                 ) -> None:
+        self.direction = direction
+        self.origin = origin

CustomTypes/custom_types.pyi

@@ -0,0 +1,40 @@
+from typing import Any, Iterable, Iterator, Literal, TypeAlias, TypeVar, overload
+import numpy as np
+from . import CustomNP
+
+class Vector3(CustomNP[tuple[Literal[3]], np.dtype[np.float_]]):
+    @overload
+    def __new__(cls, x: float, y: float, z: float) -> Vector3: ...
+    @overload
+    def __new__(cls, x: tuple[float, float, float]) -> Vector3: ...
+    @overload
+    def __new__(cls, x: Vector3) -> Vector3: ...
+
+    def __getitem__(self, index:Literal[0, 1, 2]) -> float: ... # type: ignore
+
+class Triangle(CustomNP[tuple[Literal[3], Literal[3]], np.dtype[np.float_]], Iterable[Vector3]):
+    @overload
+    def __new__(cls, v0: Vector3, v1: Vector3, v2: Vector3) -> Triangle: ...
+    @overload
+    def __new__(cls, v0: tuple[Vector3, Vector3, Vector3]) -> Triangle: ...
+    @overload
+    def __new__(cls, v0: Triangle) -> Triangle: ...
+
+    @overload # type: ignore
+    def __getitem__(self, index:Literal[0, 1, 2]) -> Vector3: ...
+    @overload
+    def __getitem__(self, index:tuple[Literal[0, 1, 2], Literal[0, 1, 2]]) -> float: ...
+
+    def __add__(self, other:Triangle) -> Triangle: ... # type: ignore
+    def __sub__(self, other:Triangle) -> Triangle: ... # type: ignore
+
+    def __iter__(self) -> Iterator[Vector3]: ...
+class Ray:
+    direction:Vector3
+    origin:Vector3
+    def __init__(self,
+                 direction:Vector3,
+                 origin:Vector3,
+                 ) -> None:
+        self.direction = direction
+        self.origin = origin

Generate/.gitignore

@@ -0,0 +1 @@
+__pycache__/

Generate/__init__.py

@@ -0,0 +1,13 @@
+from .auv import(
+    place_auvs_over_points as place_auvs_over_points,
+    generate_paths as generate_paths,
+    scan_paths as scan_paths,
+)
+from .hull import (
+    generate_hulls as generate_hulls,
+    generate_points_on_hull as generate_points_on_hull,
+    generate_vertical_bounds as generate_vertical_bounds,
+    load_anomalies as load_anomalies,
+    pick_anomalies as pick_anomalies,
+    place_anomalies_at_points as place_anomalies_at_points,
+)