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heat_source_or_sink

HeatSourceOrSink

Bases: AbsoluteObjectState, LinkBasedStateMixin

This state indicates the heat source or heat sink state of the object.

Currently, if the object is not an active heat source/sink, this returns (False, None). Otherwise, it returns True and the position of the heat source element, or (True, None) if the heat source has no heating element / only checks for Inside. E.g. on a stove object, True and the coordinates of the heating element will be returned. on a microwave object, True and None will be returned.

Source code in object_states/heat_source_or_sink.py 
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class HeatSourceOrSink(AbsoluteObjectState, LinkBasedStateMixin):
    """
    This state indicates the heat source or heat sink state of the object.

    Currently, if the object is not an active heat source/sink, this returns (False, None).
    Otherwise, it returns True and the position of the heat source element, or (True, None) if the heat source has no
    heating element / only checks for Inside.
    E.g. on a stove object, True and the coordinates of the heating element will be returned.
    on a microwave object, True and None will be returned.
    """

    def __init__(
        self,
        obj,
        temperature=m.DEFAULT_TEMPERATURE,
        heating_rate=m.DEFAULT_HEATING_RATE,
        distance_threshold=m.DEFAULT_DISTANCE_THRESHOLD,
        requires_toggled_on=False,
        requires_closed=False,
        requires_inside=False,
    ):
        """
        Args:
            obj (StatefulObject): The object with the heat source ability.
            temperature (float): The temperature of the heat source.
            heating_rate (float): Fraction in [0, 1] of the temperature difference with the
                heat source temperature should be received every step, per second.
            distance_threshold (float): The distance threshold which an object needs
                to be closer than in order to receive heat from this heat source.
            requires_toggled_on (bool): Whether the heat source object needs to be
                toggled on to emit heat. Requires toggleable ability if set to True.
            requires_closed (bool): Whether the heat source object needs to be
                closed (e.g. in terms of the joints) to emit heat. Requires openable
                ability if set to True.
            requires_inside (bool): Whether an object needs to be `inside` the
                heat source to receive heat. See the Inside state for details. This
                will mean that the "heating element" link for the object will be
                ignored.
        """
        super(HeatSourceOrSink, self).__init__(obj)
        self.temperature = temperature
        self.heating_rate = heating_rate
        self.distance_threshold = distance_threshold

        # If the heat source needs to be toggled on, we assert the presence
        # of that ability.
        if requires_toggled_on:
            assert ToggledOn in self.obj.states
        self.requires_toggled_on = requires_toggled_on

        # If the heat source needs to be closed, we assert the presence
        # of that ability.
        if requires_closed:
            assert Open in self.obj.states
        self.requires_closed = requires_closed

        # If the heat source needs to contain an object inside to heat it,
        # we record that for use in the heat transfer process.
        self.requires_inside = requires_inside

        self.marker = None
        self.status = None
        self.position = None

    @staticmethod
    def get_dependencies():
        return AbsoluteObjectState.get_dependencies() + [AABB, Inside]

    @staticmethod
    def get_optional_dependencies():
        return AbsoluteObjectState.get_optional_dependencies() + [ToggledOn, Open]

    @staticmethod
    def get_state_link_name():
        return m.HEATING_ELEMENT_LINK_NAME

    def _compute_state_and_position(self):
        # Find the link first. Note that the link is only required
        # if the object is not in self.requires_inside mode.
        heating_element_position = self.get_link_position()
        if not self.requires_inside and heating_element_position is None:
            return False, None

        # Check the toggle state.
        if self.requires_toggled_on and not self.obj.states[ToggledOn].get_value():
            return False, None

        # Check the open state.
        if self.requires_closed and self.obj.states[Open].get_value():
            return False, None

        # Return True and the heating element position (or None if not required).
        return True, (heating_element_position if not self.requires_inside else None)

    def _initialize(self):
        # Run super first
        super()._initialize()
        self.initialize_link_mixin()

    def _update(self):
        self.status, self.position = self._compute_state_and_position()

    def _get_value(self):
        return self.status, self.position

    def _set_value(self, new_value):
        raise NotImplementedError("Setting heat source capability is not supported.")

__init__(obj, temperature=m.DEFAULT_TEMPERATURE, heating_rate=m.DEFAULT_HEATING_RATE, distance_threshold=m.DEFAULT_DISTANCE_THRESHOLD, requires_toggled_on=False, requires_closed=False, requires_inside=False)

Parameters:

Name Type Description Default
obj StatefulObject

The object with the heat source ability.

 required
temperature float

The temperature of the heat source.

 m.DEFAULT_TEMPERATURE
heating_rate float

Fraction in [0, 1] of the temperature difference with the heat source temperature should be received every step, per second.

 m.DEFAULT_HEATING_RATE
distance_threshold float

The distance threshold which an object needs to be closer than in order to receive heat from this heat source.

 m.DEFAULT_DISTANCE_THRESHOLD
requires_toggled_on bool

Whether the heat source object needs to be toggled on to emit heat. Requires toggleable ability if set to True.

 False
requires_closed bool

Whether the heat source object needs to be closed (e.g. in terms of the joints) to emit heat. Requires openable ability if set to True.

 False
requires_inside bool

Whether an object needs to be inside the heat source to receive heat. See the Inside state for details. This will mean that the "heating element" link for the object will be ignored.

 False
Source code in object_states/heat_source_or_sink.py 
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def __init__(
    self,
    obj,
    temperature=m.DEFAULT_TEMPERATURE,
    heating_rate=m.DEFAULT_HEATING_RATE,
    distance_threshold=m.DEFAULT_DISTANCE_THRESHOLD,
    requires_toggled_on=False,
    requires_closed=False,
    requires_inside=False,
):
    """
    Args:
        obj (StatefulObject): The object with the heat source ability.
        temperature (float): The temperature of the heat source.
        heating_rate (float): Fraction in [0, 1] of the temperature difference with the
            heat source temperature should be received every step, per second.
        distance_threshold (float): The distance threshold which an object needs
            to be closer than in order to receive heat from this heat source.
        requires_toggled_on (bool): Whether the heat source object needs to be
            toggled on to emit heat. Requires toggleable ability if set to True.
        requires_closed (bool): Whether the heat source object needs to be
            closed (e.g. in terms of the joints) to emit heat. Requires openable
            ability if set to True.
        requires_inside (bool): Whether an object needs to be `inside` the
            heat source to receive heat. See the Inside state for details. This
            will mean that the "heating element" link for the object will be
            ignored.
    """
    super(HeatSourceOrSink, self).__init__(obj)
    self.temperature = temperature
    self.heating_rate = heating_rate
    self.distance_threshold = distance_threshold

    # If the heat source needs to be toggled on, we assert the presence
    # of that ability.
    if requires_toggled_on:
        assert ToggledOn in self.obj.states
    self.requires_toggled_on = requires_toggled_on

    # If the heat source needs to be closed, we assert the presence
    # of that ability.
    if requires_closed:
        assert Open in self.obj.states
    self.requires_closed = requires_closed

    # If the heat source needs to contain an object inside to heat it,
    # we record that for use in the heat transfer process.
    self.requires_inside = requires_inside

    self.marker = None
    self.status = None
    self.position = None