SpatialSeries and DynamicTraceSegment (#699)

.pre-commit-config.yaml

@@ -29,7 +29,7 @@ repos:
           - mdformat-config
   # ----- Python formatting -----
   - repo: https://github.com/sondrelg/pep585-upgrade
-    rev: v1
+    rev: v1.0.1
     hooks:
     - id: upgrade-type-hints
       args: [ '--futures=true' ]

CHANGELOG.rst

@@ -9,6 +9,8 @@
 added
 =====
 
+-  `SpatialSeries` and `DynamicTraceSegment` [:pull:`699`]
+
 -  first draft of the ``multi_pass_weld`` schema for WelDX files [:pull:`667`]
 
 -  add `GenericSeries` as base class supporting arrays and equations [:pull:`618`]

tutorials/01_03_geometry.ipynb

@@ -391,7 +391,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.12"
+   "version": "3.9.9"
   }
  },
  "nbformat": 4,

tutorials/welding_example_01_basics.ipynb

@@ -357,7 +357,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "coords = [tcp_start_point.magnitude, tcp_end_point.magnitude]\n",
+    "coords = np.stack([tcp_start_point, tcp_end_point])\n",
     "\n",
     "tcp_wire = LocalCoordinateSystem(\n",
     "    coordinates=coords, orientation=rot, time=[t_start, t_end]\n",
@@ -398,7 +398,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "tcp_contact = LocalCoordinateSystem(coordinates=[0, 0, -10])"
+    "tcp_contact = LocalCoordinateSystem(coordinates=Q_([0, 0, -10], \"mm\"))"
    ]
   },
   {
@@ -469,9 +469,9 @@
    "outputs": [],
    "source": [
     "# add the workpiece coordinate system\n",
-    "csm.add_cs(\"T1\", \"workpiece\", LocalCoordinateSystem(coordinates=[200, 3, 5]))\n",
-    "csm.add_cs(\"T2\", \"T1\", LocalCoordinateSystem(coordinates=[0, 1, 0]))\n",
-    "csm.add_cs(\"T3\", \"T2\", LocalCoordinateSystem(coordinates=[0, 1, 0]))"
+    "csm.add_cs(\"T1\", \"workpiece\", LocalCoordinateSystem(coordinates=Q_([200, 3, 5], \"mm\")))\n",
+    "csm.add_cs(\"T2\", \"T1\", LocalCoordinateSystem(coordinates=Q_([0, 1, 0], \"mm\")))\n",
+    "csm.add_cs(\"T3\", \"T2\", LocalCoordinateSystem(coordinates=Q_([0, 1, 0], \"mm\")))"
    ]
   },
   {
@@ -581,7 +581,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.9.9"
+   "version": "3.8.12"
   }
  },
  "nbformat": 4,

weldx/__init__.py

@@ -50,6 +50,7 @@
     Time
     TimeSeries
     GenericSeries
+    SpatialSeries
     MathematicalExpression
     CoordinateSystemManager
     LocalCoordinateSystem
@@ -72,6 +73,7 @@
     Shape
     Trace
     SpatialData
+    DynamicTraceSegment
 
 **Full API Reference**
 
@@ -130,17 +132,21 @@
 from weldx.constants import Q_, U_
 
 # main modules
-import weldx.time
+import weldx.time  # skipcq: PY-W2000
+
+# skipcq: PY-W2000
 import weldx.util  # import this second to avoid circular dependencies
-import weldx.core
-import weldx.transformations
+import weldx.core  # skipcq: PY-W2000
+import weldx.transformations  # skipcq: PY-W2000
 import weldx.config
-import weldx.geometry
-import weldx.welding
+import weldx.geometry  # skipcq: PY-W2000
+import weldx.welding  # skipcq: PY-W2000
 
 # class imports to weldx namespace
 from weldx.config import Config
-from weldx.core import GenericSeries, MathematicalExpression, TimeSeries
+
+# skipcq: PY-W2000
+from weldx.core import GenericSeries, MathematicalExpression, TimeSeries, SpatialSeries
 from weldx.geometry import (
     ArcSegment,
     Geometry,
@@ -150,8 +156,9 @@
     Shape,
     Trace,
     SpatialData,
+    DynamicTraceSegment,
 )
-from weldx.transformations import (
+from weldx.transformations import (  # skipcq: PY-W2000
     CoordinateSystemManager,
     LocalCoordinateSystem,
     WXRotation,
@@ -161,10 +168,10 @@
 from weldx.time import Time
 
 # tags (this will partially import weldx.asdf but not the extension)
-from weldx import tags
+from weldx import tags  # skipcq: PY-W2000
 
 # asdf extensions
-import weldx.asdf
+import weldx.asdf  # skipcq: PY-W2000
 from weldx.asdf.file import WeldxFile
 
 __all__ = (
@@ -190,6 +197,7 @@
     "util",
     "welding",
     "TimeSeries",
+    "DynamicTraceSegment",
     "LinearHorizontalTraceSegment",
     "Config",
     "Time",

weldx/core.py

@@ -24,7 +24,7 @@
 
     from weldx.types import UnitLike
 
-__all__ = ["GenericSeries", "MathematicalExpression", "TimeSeries"]
+__all__ = ["GenericSeries", "MathematicalExpression", "TimeSeries", "SpatialSeries"]
 
 _me_parameter_types = Union[pint.Quantity, str, Tuple[pint.Quantity, str], xr.DataArray]
 
@@ -276,7 +276,6 @@ def evaluate(self, **kwargs) -> Any:
             k: v if isinstance(v, xr.DataArray) else xr.DataArray(v)
             for k, v in self._parameters.items()
         }
-
         return self.function(**variables, **parameters)
 
 
@@ -1026,7 +1025,6 @@ def _init_discrete(
         else:
             # todo check data structure
             pass
-
         # check the constraints of derived types
         self._check_constraints_discrete(data)
         self._obj = data
@@ -1254,9 +1252,14 @@ def _evaluate_preprocessor(self, **kwargs) -> list[SeriesParameter]:
     def _evaluate_expr(self, coords: list[SeriesParameter]) -> GenericSeries:
         """Evaluate the expression at the passed coordinates."""
         if len(coords) == self._obj.num_variables:
-            eval_args = {v.symbol: v.data_array for v in coords}
-            data = self._obj.evaluate(**eval_args)
-            return self.__class__(data)
+            eval_args = {
+                v.symbol: v.data_array.assign_coords(
+                    {v.dim: v.data_array.pint.dequantify()}
+                )
+                for v in coords
+            }
+            da = self._obj.evaluate(**eval_args)
+            return self.__class__(da)
 
         # turn passed coords into parameters of the expression
         new_series = deepcopy(self)
@@ -1430,7 +1433,6 @@ def _check_constraints_discrete(cls, data_array: xr.DataArray):
                 ref[k]["dimensionality"] = _units[k]
             if k in _vals:
                 ref[k]["values"] = _vals[k]
-
         ut.xr_check_coords(data_array, ref)
 
     @classmethod
@@ -1546,3 +1548,82 @@ def interp_like(
 
         """
         return NotImplemented
+
+
+# --------------------------------------------------------------------------------------
+# SpatialSeries
+# --------------------------------------------------------------------------------------
+
+
+class SpatialSeries(GenericSeries):
+    """Describes a line in 3d space depending on the positional coordinate ``s``."""
+
+    _position_dim_name = "s"
+
+    _required_variables: list[str] = [_position_dim_name]
+    """Required variable names"""
+
+    _required_dimensions: list[str] = [_position_dim_name, "c"]
+    """Required dimensions"""
+    _required_dimension_units: dict[str, pint.Unit] = {_position_dim_name: ""}
+    """Required units of a dimension"""
+    _required_dimension_coordinates: dict[str, list] = {"c": ["x", "y", "z"]}
+    """Required coordinates of a dimension."""
+
+    def __init__(
+        self,
+        obj: Union[pint.Quantity, xr.DataArray, str, MathematicalExpression],
+        dims: Union[list[str], dict[str, str]] = None,
+        coords: dict[str, pint.Quantity] = None,
+        units: dict[str, Union[str, pint.Unit]] = None,
+        interpolation: str = None,
+        parameters: dict[str, Union[str, pint.Quantity, xr.DataArray]] = None,
+    ):
+        if isinstance(obj, Q_):
+            obj = self._process_quantity(obj, dims, coords)
+            dims = None
+            coords = None
+        if parameters is not None:
+            parameters = self._process_parameters(parameters)
+        super().__init__(obj, dims, coords, units, interpolation, parameters)
+
+    @classmethod
+    def _process_quantity(
+        cls,
+        obj: Union[pint.Quantity, xr.DataArray, str, MathematicalExpression],
+        dims: Union[list[str], dict[str, str]],
+        coords: dict[str, pint.Quantity],
+    ) -> xr.DataArray:
+        """Turn a quantity into a a correctly formatted data array."""
+        if isinstance(coords, dict):
+            s = coords[cls._position_dim_name]
+        else:
+            s = coords
+            coords = {cls._position_dim_name: s}
+
+        if not isinstance(s, xr.DataArray):
+            if not isinstance(s, Q_):
+                s = Q_(s, "")
+            s = xr.DataArray(s, dims=[cls._position_dim_name]).pint.dequantify()
+            coords[cls._position_dim_name] = s
+
+        if "c" not in coords:
+            coords["c"] = ["x", "y", "z"]
+
+        if dims is None:
+            dims = [cls._position_dim_name, "c"]
+
+        return xr.DataArray(obj, dims=dims, coords=coords)
+
+    @staticmethod
+    def _process_parameters(params):
+        """Turn quantity parameters into the correctly formatted data arrays."""
+        for k, v in params.items():
+            if isinstance(v, Q_) and v.size == 3:
+                params[k] = xr.DataArray(v, dims=["c"], coords=dict(c=["x", "y", "z"]))
+        return params
+
+    @property
+    def position_dim_name(self):
+        """Return the name of the dimension that determines the position on the line."""
+        return self._position_dim_name