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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,158 @@ | ||
| from typing import Literal, Optional | ||
|
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||
| import numpy as np | ||
|
|
||
| from tavi.instrument.tas_cmponents import TASComponent | ||
|
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|
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| class Goniometer(TASComponent): | ||
| """Goniometer table, type = Y-ZX or YZ-X""" | ||
|
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||
| def __init__( | ||
| self, | ||
| param_dict: Optional[dict] = None, | ||
| component_name: str = "goniometer", | ||
| ): | ||
| self.type: str = "Y-ZX" # Y-mZ-X for Huber stage at HB1A and HB3 | ||
| self.sense: Literal[-1, +1] = -1 | ||
|
|
||
| super().__init__(param_dict) | ||
| self.component_name = component_name | ||
|
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||
| @staticmethod | ||
| def rot_x(nu): | ||
| """rotation matrix about y-axis by angle nu | ||
| Args: | ||
| nu (float): angle in degrees | ||
| Note: | ||
| Using Mantid convention, beam along z, y is up, x in plane | ||
| """ | ||
|
|
||
| angle = np.deg2rad(nu) | ||
| c = np.cos(angle) | ||
| s = np.sin(angle) | ||
| mat = np.array( | ||
| [ | ||
| [1, 0, 0], | ||
| [0, c, -s], | ||
| [0, s, c], | ||
| ] | ||
| ) | ||
| return mat | ||
|
|
||
| @staticmethod | ||
| def rot_y(omega): | ||
| """rotation matrix about y-axis by angle omega | ||
| Args: | ||
| omega (float): angle in degrees | ||
| Note: | ||
| Using Mantid convention, beam along z, y is up, x in plane | ||
| """ | ||
|
|
||
| angle = np.deg2rad(omega) | ||
| c = np.cos(angle) | ||
| s = np.sin(angle) | ||
| mat = np.array( | ||
| [ | ||
| [c, 0, s], | ||
| [0, 1, 0], | ||
| [-s, 0, c], | ||
| ] | ||
| ) | ||
| return mat | ||
|
|
||
| @staticmethod | ||
| def rot_z(mu): | ||
| """rotation matrix about z-axis by angle mu | ||
| Args: | ||
| mu (float): angle in degrees | ||
| Note: | ||
| Using Mantid convention, beam along z, y is up, x in plane | ||
| """ | ||
|
|
||
| angle = np.deg2rad(mu) | ||
| c = np.cos(angle) | ||
| s = np.sin(angle) | ||
| mat = np.array( | ||
| [ | ||
| [c, -s, 0], | ||
| [s, c, 0], | ||
| [0, 0, 1], | ||
| ] | ||
| ) | ||
| return mat | ||
|
|
||
| def r_mat( | ||
| self, | ||
| angles_deg: tuple[float, float, float], | ||
| ): | ||
| "Goniometer rotation matrix R" | ||
|
|
||
| omega, sgl, sgu = angles_deg # s2, s1, sgl, sgu | ||
| match self.type: | ||
| case "Y-ZX": # HB3 | ||
| r_mat = Goniometer.rot_y(omega) @ Goniometer.rot_z(-1 * sgl) @ Goniometer.rot_x(sgu) | ||
| case "YZ-X": # CG4C ?? | ||
| r_mat = Goniometer.rot_y(omega) @ Goniometer.rot_z(sgl) @ Goniometer.rot_x(-1 * sgu) | ||
| case _: | ||
| r_mat = None | ||
| print("Unknow goniometer type. Curruntly support Y-ZX and YZ-X") | ||
|
|
||
| return r_mat | ||
|
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| def r_mat_inv( | ||
| self, | ||
| angles: tuple[float, float, float], | ||
| ): | ||
| """inverse of rotation matrix""" | ||
| # return np.linalg.inv(self.r_mat(angles)) | ||
| return self.r_mat(angles).T | ||
|
|
||
| def angles_from_r_mat(self, r_mat): | ||
| """Calculate goniometer angles from the R matrix | ||
| Note: | ||
| range of np.arcsin is -pi/2 to pi/2 | ||
| range of np.atan2 is -pi to pi | ||
| """ | ||
|
|
||
| match self.type: | ||
| case "Y-ZX" | "YZ-X": # Y-mZ-X (s1, sgl, sgu) for HB1A and HB3, Y-Z-mX (s1, sgl, sgu) for CG4C | ||
| # sgl1 = np.arcsin(r_mat[1, 0]) * rad2deg | ||
| # sgl2 = np.arccos(np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2)) * rad2deg | ||
| sgl_rad = np.arctan2(r_mat[1, 0], np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2)) | ||
| sgl = np.rad2deg(sgl_rad) | ||
|
|
||
| # sgu1 = np.arcsin(-r_mat[1, 2] / np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2)) * rad2deg | ||
| # sgu2 = np.arccos(r_mat[1, 1] / np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2)) * rad2deg | ||
| sgu_rad = np.arctan2( | ||
| -r_mat[1, 2] / np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2), | ||
| r_mat[1, 1] / np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2), | ||
| ) | ||
| sgu = np.rad2deg(sgu_rad) | ||
|
|
||
| # omega1 = np.arcsin(-r_mat[2, 0] / np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2)) * rad2deg | ||
| # omega2 = np.arccos(r_mat[0, 0] / np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2)) * rad2deg | ||
| omega_rad = np.arctan2( | ||
| -r_mat[2, 0] / np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2), | ||
| r_mat[0, 0] / np.sqrt(r_mat[0, 0] ** 2 + r_mat[2, 0] ** 2), | ||
| ) | ||
| omega = np.rad2deg(omega_rad) | ||
|
|
||
| match self.type: | ||
| case "Y-ZX": | ||
| angles = (omega, -1 * sgl, sgu) | ||
| case "YZ-X": | ||
| angles = (omega, sgl, -1 * sgu) | ||
|
|
||
| case _: | ||
| angles = None | ||
| print("Unknow goniometer type. Curruntly support Y-ZX and YZ-X.") | ||
|
|
||
| return angles |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,72 @@ | ||
| { | ||
| "source": { | ||
| "shape": "rectangular", | ||
| "width": 0.0, | ||
| "height": 0.0 | ||
| }, | ||
| "guide": { | ||
| "in_use": false, | ||
| "div_h": 0.0, | ||
| "div_v": 0.0 | ||
| }, | ||
| "monochromator": { | ||
| "type": "PG002", | ||
| "mosaic_h": 30, | ||
| "mosaic_v": 30, | ||
| "sense": 1, | ||
| "shape": "rectangular", | ||
| "width": 10.0, | ||
| "height": 18.0, | ||
| "depth": 0.0, | ||
| "curved_h": false, | ||
| "curvh": 0.0, | ||
| "optimally_curved_h": false, | ||
| "curved_v": true, | ||
| "curvv": 0.0, | ||
| "optimally_curved_v": false | ||
| }, | ||
| "monitor": {}, | ||
| "goniometer": { | ||
| "sense": -1, | ||
| "type": "Y-ZX" | ||
| }, | ||
| "analyzer": { | ||
| "type": "Pg002", | ||
| "mosaic_h": 30, | ||
| "mosaic_v": 30, | ||
| "sense": 1, | ||
| "shape": "rectangular", | ||
| "width": 15.0, | ||
| "height": 15.6, | ||
| "depth": 0.0, | ||
| "curved_h": false, | ||
| "curvh": 0.0, | ||
| "optimally_curved_h": false, | ||
| "curved_v": true, | ||
| "curvv": 0.0, | ||
| "optimally_curved_v": false | ||
| }, | ||
| "detector": { | ||
| "shape": "rectangular", | ||
| "width": 5.08, | ||
| "height": 5.08 | ||
| }, | ||
| "distances": { | ||
| "src_mono1": 474.5, | ||
| "mono1_mono2": 227.6, | ||
| "src_mono": 474.5, | ||
| "mono_sample": 143.13, | ||
| "sample_ana": 74.0, | ||
| "ana_det": 50.0 | ||
| }, | ||
| "collimators": { | ||
| "h_pre_mono": 40, | ||
| "h_pre_sample": 40, | ||
| "h_post_sample": 40, | ||
| "h_post_ana": 80, | ||
| "v_pre_mono": 600, | ||
| "v_pre_sample": 600, | ||
| "v_post_sample": 600, | ||
| "v_post_ana": 600 | ||
| } | ||
| } |
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