Features/alignment optimization

[MarleneBusch]

Features/alignment optimization

This branch mainly introduces the AlignmentOptimizer that can be used to optimize all 28 heliostat kinematic parameters. There are two optimization methods, one uses the motor positions and the other uses raytracing. Optimizing via the motor positions is significantly faster and also more accurate.

This branch also changed other modules.

• The tutorials were not updated in my last feature branch concerning the device, now the default device is also set there.
• The h5 scenarios were updated to also include the power plant position coordinates.
• The actuator used to have a forward method that had no use, i removed it.
• The kinematic module variable names were not consistent, we used to have actuator_steps, motor_steps, actuator_pos, ... all were referring to the same thing that is named motor_positions in PAINT, thats why I chose that name for ARTIST as well.
• A new pytest is introduced checking the util method that converts wgs84 to enu.
• In the heliostat module, the get_surface_points_and_surface_normals method was moved from the alignement method to the init. This way it is only called once and not with each new alignment.
• Inplace operations in the kinematic and raytracing were removed to make the modules differentiable.
• A PAINT_to_surface converter was added to use PAINT data and create scenarios from it.
• Overall I also found pieces of code that used the math library, I changed that to torch.

Fixes #91

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)

Checklist:

• My code follows the style guidelines of this project
• I have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing tests pass locally with my changes
• Any dependent changes have been merged and published in downstream modules

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 97.17%. Comparing base (ac85e26) to head (47e6936).

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #96      +/-   ##
==========================================
+ Coverage   96.57%   97.17%   +0.59%     
==========================================
  Files          27       28       +1     
  Lines        1140     1310     +170     
==========================================
+ Hits         1101     1273     +172     
+ Misses         39       37       -2     

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[github-actions]

Name	Stmts	Miss	Cover	Missing
artist\__init__.py	5	0	100%
artist\field\__init__.py	13	0	100%
artist\field\actuator.py	16	2	88%	101, 121
artist\field\actuator_array.py	26	2	92%	91-92
artist\field\actuator_ideal.py	8	0	100%
artist\field\actuator_linear.py	38	0	100%
artist\field\facets_nurbs.py	26	0	100%
artist\field\heliostat.py	156	3	98%	117-118, 277
artist\field\heliostat_field.py	20	0	100%
artist\field\kinematic.py	10	2	80%	68, 79
artist\field\kinematic_rigid_body.py	74	0	100%
artist\field\receiver.py	41	2	95%	142, 146
artist\field\receiver_field.py	19	0	100%
artist\field\surface.py	19	0	100%
artist\raytracing\__init__.py	3	0	100%
artist\raytracing\heliostat_tracing.py	107	1	99%	4
artist\raytracing\rays.py	6	0	100%
artist\raytracing\raytracing_utils.py	9	0	100%
artist\scenario.py	118	2	98%	214, 679
artist\scene\__init__.py	4	0	100%
artist\scene\light_source.py	13	2	85%	63, 94
artist\scene\light_source_array.py	29	2	93%	88-89
artist\scene\sun.py	39	1	97%	242
artist\util\__init__.py	24	8	67%	56-57, 62-67
artist\util\alignment_optimizer.py	93	0	100%
artist\util\config_dictionary.py	167	0	100%
artist\util\nurbs.py	136	10	93%	166-167, 279, 283, 285-286, 360-361, 364-365
artist\util\utils.py	91	0	100%
TOTAL	1310	37	97%