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SphericalLedArm

fpm_rs::experiment

Struct SphericalLedArm 

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pub struct SphericalLedArm {
    pub commanded_angles: Vec<(f64, f64)>,
    pub arm_length: f64,
    pub pivot_offset: (f64, f64, f64),
    pub orientation_radians: (f64, f64, f64),
    pub theta_zero_radians: f64,
    pub phi_zero_radians: f64,
    pub theta_scale: f64,
    pub phi_scale: f64,
    pub elevation_axis_tilt_radians: f64,
    pub theta_backlash_radians: f64,
    pub phi_backlash_radians: f64,
}
Expand description

A single LED moved over a spherical trajectory by an azimuth/elevation arm.

commanded_angles are (theta, phi) encoder commands in acquisition order. The kinematic model includes encoder affine errors, direction-dependent backlash, inner-axis non-orthogonality, arm-pivot displacement, and a rigid mount rotation. Azimuth commands should be unwrapped when crossing +-pi so that backlash direction is unambiguous.

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§commanded_angles: Vec<(f64, f64)>

Movement-order (theta, phi) encoder commands in radians.

§arm_length: f64

Positive distance from pivot to LED, in metres.

§pivot_offset: (f64, f64, f64)

Arm-pivot displacement (x, y, z) from the sample, in metres.

§orientation_radians: (f64, f64, f64)

Rigid mount rotation (rx, ry, rz) in radians.

§theta_zero_radians: f64

Additive elevation-encoder zero offset, in radians.

§phi_zero_radians: f64

Additive azimuth-encoder zero offset, in radians.

§theta_scale: f64

Positive dimensionless elevation-encoder scale.

§phi_scale: f64

Positive dimensionless azimuth-encoder scale.

§elevation_axis_tilt_radians: f64

Tilt of the elevation axis toward the azimuth axis, in radians.

§theta_backlash_radians: f64

Total separation between increasing and decreasing encoder branches.

§phi_backlash_radians: f64

Total separation between increasing and decreasing encoder branches.

Implementations§

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impl SphericalLedArm

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pub fn new(commanded_angles: Vec<(f64, f64)>, arm_length: f64) -> Self

Creates an arm from movement-order commands in radians and length in metres.

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pub fn pivot_offset(self, offset: (f64, f64, f64)) -> Self

Sets pivot displacement (x, y, z) from the sample in metres.

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pub fn orientation_deg(self, degrees: (f64, f64, f64)) -> Self

Sets extrinsic mount rotations (rx, ry, rz) in degrees, applied as Rz * Ry * Rx.

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pub fn encoder_zero_deg(self, theta: f64, phi: f64) -> Self

Sets additive elevation and azimuth encoder-zero offsets in degrees.

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pub fn encoder_scale(self, theta: f64, phi: f64) -> Self

Sets positive dimensionless elevation and azimuth encoder scales.

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pub fn elevation_axis_tilt_deg(self, degrees: f64) -> Self

Sets the elevation-axis non-orthogonality tilt in degrees.

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pub fn backlash_deg(self, theta: f64, phi: f64) -> Self

Sets total elevation and azimuth backlash branch separations in degrees.

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pub fn source_count(&self) -> usize

Returns the number of commanded physical source positions.

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pub fn validate(&self) -> Result<()>

Checks non-empty finite commands, positive geometry and encoder scales, and finite pose and mechanical calibration values.

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pub fn resolve(&self, optics: &Optics) -> Result<ResolvedSources>

Resolves physical positions to source-to-sample directions and transverse vectors.

Trait Implementations§

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impl Clone for SphericalLedArm

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fn clone(&self) -> SphericalLedArm

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for SphericalLedArm

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more
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impl<'de> Deserialize<'de> for SphericalLedArm

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl From<SphericalLedArm> for SourceGeometry

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fn from(value: SphericalLedArm) -> Self

Converts to this type from the input type.
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impl PartialEq for SphericalLedArm

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fn eq(&self, other: &SphericalLedArm) -> bool

Tests for self and other values to be equal, and is used by ==.
1.0.0 (const: unstable) · Source§

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl Serialize for SphericalLedArm

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fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>
where __S: Serializer,

Serialize this value into the given Serde serializer. Read more
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impl StructuralPartialEq for SphericalLedArm

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