vizSupport

vizSupport.addLocation(viz, stationName: str, parentBodyName: str, r_GP_P=None, lla_GP=None, gHat_P=None, fieldOfView=None, color=None, range=None, markerScale=None, isHidden=None, label=None)[source]

This method creates a Location instance on a parent body.

Parameters:

viz – copy of the vizInterface module

Returns:

void

Keyword Arguments:

  • stationName (str) – Location text label

  • parentBodyName (str) – Name of the parent body P (spacecraft or planet) on which the location G is positioned.

  • r_GP_P (3-element double-list) – Position of G relative to parent body frame P. Required, if lla_GP not provided

  • lla_GP (3-element double-list) – Position of G relative to parent body in lat/lon/alt coordinates. Required, if r_GP_P not provided

  • gHat_P (3-element double-list) – Location normal relative to parent body frame.

  • fieldOfView (double) – [rad] FOV angle measured edge-to-edge.

  • color (int-list) – Color of the Location. Can be 4 RGBA integer value (0-255) or a color string.

  • range (double) – [m] Range of the ground Location.

  • markerScale (double) – Value will be multiplied by default marker scale, values less than 1.0 will decrease size, greater will increase.

  • isHidden (bool) – True to hide Location, false to show (vizDefault)

  • label (string) – string to display on location label, if empty, then stationName is used. Send “NOLABEL” to delete label

vizSupport.addQuadMap(viz, ID, parentBodyName, vertices, color, isHidden=None, label=None)[source]

This method creates a QuadMap element for displaying shaded regions in Vizard.

Parameters:

viz – copy of the vizInterface module

Returns:

void

Keyword Arguments:

  • ID (int) – The reference ID of the QuadMap instance. Once instantiated, can be used to change the QuadMap settings.

  • parentBodyName (str) – Name of the parent body to draw the QuadMap in reference to.

  • vertices (single or double-list) – Specifies the internal mesh coordinates of the QuadMap, in body-fixed frame.

  • color (int list) – Color of the QuadMap. Can be 4 RGBA integer value (0-255) or a color string.

  • isHidden (bool) – Flag if the QuadMap should be hidden (1) or shown (-1). Optional. Default: 0 - if not provided, then the Vizard default settings are used.

  • label (str) – Label to display in the center of QuadMap region. Optional. Send “NOLABEL” to delete label.

vizSupport.assert_option(value, low, high, default=None)[source]

Check if the value is in [low, high] inclusive.

vizSupport.assert_trinary(value, default=0)[source]

Check if the value is in [-1, 0, 1] and map False to -1 or 0 depending on default.

vizSupport.changeLocation(viz, stationName: str, parentBodyName: str | None = None, r_GP_P: Sequence[float] | None = None, lla_GP: Sequence[float] | None = None, gHat_P: Sequence[float] | None = None, fieldOfView: Sequence[float] | None = None, color: Sequence[float] | None = None, range: float | None = None, markerScale: float | None = None, isHidden: bool | None = None, label: str | None = None)[source]

This method changes the information of a Location instance.

Parameters:

viz – copy of the vizInterface module

Returns:

void

Keyword Arguments:

  • stationName (str) – Location text label Required

  • parentBodyName (str) – Name of the parent body P (spacecraft or planet) on which the location G is positioned.

  • r_GP_P (3-element double-list) – Position of G relative to parent body frame P. Required, if lla_GP not provided

  • lla_GP (3-element double-list) – Position of G relative to parent body in lat/lon/alt coordinates. Required, if r_GP_P not provided

  • gHat_P (3-element double-list) – Location normal relative to parent body frame.

  • fieldOfView (double) – [rad] FOV angle measured edge-to-edge.

  • color (int-list) – Color of the Location. Can be 4 RGBA integer value (0-255) or a color string.

  • range (double) – [m] Range of the ground Location.

  • markerScale (double) – Value will be multiplied by default marker scale, values less than 1.0 will decrease size, greater will increase.

  • isHidden (bool) – True to hide Location, false to show (vizDefault)

  • label (string) – string to display on location label, if empty, then stationName is used. Send “NOLABEL” to delete label

vizSupport.createCameraConfigMsg(viz, cameraID, fieldOfView, resolution, cameraPos_B, sigma_CB, parentName=None, renderRate=None, skyBox='', postProcessingOn=0, ppFocusDistance=None, ppAperature=None, ppFocalLength=None, ppMaxBlurSize=None, updateCameraParameters=False, renderMode=False, depthMapClippingPlanes=None, showHUDElementsInImage=None)[source]

This method configures camera settings.

Parameters:

viz – copy of the vizInterface module

Returns:

camera instance

Keyword Arguments:

  • cameraID (int) – ID of the camera that took the snapshot.

  • parentName (str) – Name of the parent body to which the camera should be attached Optional, default is firstSpacecraftName

  • fieldOfView (double) – [rad] Camera FOV, edge-to-edge along camera y-axis.

  • resolution (2-element int-list) – Camera resolution, width/height in pixels.

  • renderRate (int) – [ns] Frame time interval at which to capture images.

  • cameraPos_B (3-element double-list) – [m] Camera position in body frame.

  • sigma_CB (3-element double-list) – MRP defining the orientation of the camera frame relative to the body frame.

  • skyBox (str) – String containing the star field preference.

  • postProcessingOn (int) – Enable post-processing of camera image. Value of 0 (protobuffer default) to use viz default which is off, -1 for false, 1 for true.

  • ppFocusDistance (double) – Distance to the point of focus, minimum value of 0.1, Value of 0 to turn off this parameter entirely.

  • ppAperature (double) – Ratio of the aperture (known as f-stop or f-number). The smaller the value is, the shallower the depth of field is. Valid Setting Range: 0.05 to 32. Value of 0 to turn off this parameter entirely.

  • ppFocalLength (double) – Valid setting range: 0.001m to 0.3m. Value of 0 to turn off this parameter entirely.

  • ppMaxBlurSize (int) – Convolution kernel size of the bokeh filter, which determines the maximum radius of bokeh. It also affects the performance (the larger the kernel is, the longer the GPU time is required). Depth textures Value of 1 for Small, 2 for Medium, 3 for Large, 4 for Extra Large. Value of 0 to turn off this parameter entirely.

  • updateCameraParameters (int) – If true, commands camera to update Instrument Camera to current message’s parameters.

  • renderMode (int) – Value of 0 to render visual image (default), value of 1 to render depth buffer to image.

  • depthMapClippingPlanes (2-element double-list) – [m] Set the bounds of rendered depth map by setting the near and far clipping planes when in renderMode=1 (depthMap mode). Default values of 0.1 and 100.

  • showHUDElementsInImage (int) – Value of 0 (protobuffer default) to use viz default, -1 for false, 1 for true

vizSupport.createConeInOut(viz, toBodyName, coneColor, isKeepIn, normalVector_B, incidenceAngle, coneHeight, fromBodyName=None, position_B=None, coneName='')[source]

This method creates a KeepOutInCone.

Parameters:

viz – copy of the vizInterface module

Returns:

void

Keyword Arguments:

  • fromBodyName (str) – Name of body to attach cone onto. Optional, default selects firstSpacecraftName

  • toBodyName (str) – Detect changes if this body has impingement on cone.

  • coneColor (int list) – Color of the KeepOutInCone. Can be 4 RGBA integer value (0-255) or a color string.

  • isKeepIn (bool) – True -> keep-in cone created, False -> keep-out cone created

  • position_B (3-element double-list) – [m] Cone start relative to from-body coordinate frame. Optional, default [0.0, 0.0, 0.0]

  • normalVector_B (3-element double-list) – Cone normal direction vector

  • incidenceAngle (double) – [rad] Cone incidence angle

  • coneHeight (double) – [m] Sets height of visible cone (aesthetic only, does not impact function)

  • coneName (str) – Cone name, if unspecified, viz will autogenerate name

vizSupport.createCustomModel(viz, modelPath, simBodiesToModify=None, offset=None, rotation=None, scale=None, customTexturePath='', normalMapPath='', shader=-1, color=None)[source]

This method creates a CustomModel.

Parameters:

viz – copy of the vizInterface module

Returns:

void

Keyword Arguments:

  • modelPath (str) – Path to model obj -OR- CUBE, CYLINDER, or SPHERE to use a primitive shape

  • simBodiesToModify (list) – Which bodies in scene to replace with this model, use ALL_SPACECRAFT to apply custom model to all spacecraft in simulation Optional, default modifies firstSpacecraftName

  • offset (3-element double-list) – [m] Offset to use to draw the model Optional, default is [0.0, 0.0, 0.0]

  • rotation (3-element double-list) – [rad] 3-2-1 Euler angles to rotate CAD about z, y, x axes Optional, default is [0.0, 0.0, 0.0]

  • scale (3-element double-list) – Desired model scaling factor along the body x, y, z, axes in spacecraft CS Optional, default is [1.0, 1.0, 1.0]

  • customTexturePath (str) – Path to texture to apply to model (note that a custom model’s .mtl will be automatically imported with its textures during custom model import) Optional

  • normalMapPath (str) – Path to the normal map for the customTexture

  • shader (int) – Value of -1 to use viz default, 0 for Unity Specular Standard Shader, 1 for Unity Standard Shader

  • color (int list) – Send desired RGBA as values between 0 and 255, default is gray, and will be applied to the albedo color setting

vizSupport.createPointLine(viz, toBodyName, lineColor, fromBodyName=None)[source]

This method creates a PointLine between two bodies.

Parameters:

viz – copy of the vizInterface module

Returns:

void

Keyword Arguments:

  • toBodyName (str) – Body which the PointLine points to.

  • lineColor (int list) – Color of the PointLine. Can be 4 RGBA integer value (0-255) or a color string.

  • fromBodyName (str) – Body from which PointLine originates. Optional, default selects firstSpacecraftName

vizSupport.createStandardCamera(viz, spacecraftName=None, setMode=None, showHUDElementsInImage=None, setView=None, fieldOfView=-1, bodyTarget='', pointingVector_B=None, position_B=None, displayName=None)[source]

This method creates a Standard Camera.

Parameters:

viz – copy of the vizInterface module

Returns:

camera instance

Keyword Arguments:

  • spacecraftName (str) – Name of spacecraft to attach camera onto. Optional, default selects firstSpacecraftName

  • setMode (int) – 0 -> body targeting, 1 -> pointing vector (default).

  • showHUDElementsInImage (int) – Value of 0 (protobuffer default) to use viz default, -1 for false, 1 for true

  • setView (int) – 0 -> nadir (default), 1 -> orbit normal, 2 -> along track. This is a setting for body targeting mode.

  • fieldOfView (double) – [rad] FOV angle measured edge-to-edge, -1 to use viz default.

  • bodyTarget (str) – Name of body camera should point to (default to first celestial body in messages). This is a setting for body targeting mode.

  • pointingVector_B (3-element double-list) – Camera pointing vector in the spacecraft body frame. Optional, default [1.0, 0.0, 0.0]

  • position_B (3-element double-list) – If a non-zero vector, this determines the location of the camera. If a zero vector, then the camera is placed outside the spacecraft along the pointing vector direction. Optional, default [0.0, 0.0, 0.0]

  • displayName (str) – Name of the standard camera panel. Optional

vizSupport.createTargetLine(viz, toBodyName, lineColor, fromBodyName=None)[source]

This method creates a TargetLine between two bodies.

Parameters:

viz – copy of the vizInterface module

Returns:

void

Keyword Arguments:

  • toBodyName (str) – Body which the PointLine points to.

  • lineColor (int list) – Color of the PointLine. Can be 4 RGBA integer value (0-255) or a color string.

  • fromBodyName (str) – Body from which PointLine originates. Optional, default selects firstSpacecraftName

vizSupport.enableUnityVisualization(scSim, simTaskName, scList, saveFile=None, rwEffectorList=None, thrEffectorList=None, thrColors=None, cssList=None, genericSensorList=None, ellipsoidList=None, lightList=None, genericStorageList=None, transceiverList=None, spriteList=None, modelDictionaryKeyList=None, logoTextureList=None, oscOrbitColorList=None, trueOrbitColorList=None, msmInfoList=None, trueOrbitColorInMsgList=None, liveStream=False, broadcastStream=False, noDisplay=False)[source]

This method creates an instance of the vizInterface() modules and sets up associated Vizard configuration setting messages.

Parameters:

  • scSim – variable with the simulationBaseClass copy

  • simTaskName – task to which to add the vizInterface module

  • scList – Module: spacecraft objects. Can be a single object or list of objects

Keyword Arguments:

  • saveFile (str) – can be a single python file name, or a full path + file name. In both cases a local results are stored in a local sub-folder called _VizFiles. If a data file name is provided directly (i.e. it ends with .bin), then the associated file path and name are used explicitly. Default: empty string resulting in the data not being saved to a file

  • rwEffectorList (single or list of ReactionWheelStateEffector) – The list must have the same length scList. Each entry is the Module: reactionWheelStateEffector instance for the spacecraft, or None if the spacecraft has no RW devices.

  • thrEffectorList (single or double-list of Module: thrusterDynamicEffector) – The list must have the same length scList. Each entry is a list of Module: reactionWheelStateEffector instances for the spacecraft denoting a thruster cluster, or None if the spacecraft has no thruster devices.

  • thrColors (single or vector of int(4)) – array of RGBA color values for each thruster set. The list must have the same length as scList. Each list entry is a list of RGBA array values for each cluster set.

  • cssList – list of lists of Module: coarseSunSensor objects. The outer list length must match scList.

  • genericSensorList – list of lists of GenericSensor structures. The outer list length must match scList.

  • ellipsoidList – list of lists of Ellipsoid structures. The outer list length must match scList.

  • lightList – list of lists of Light structures. The outer list length must match scList.

  • genericStorageList – list of lists of GenericStorage structures. The outer list length must match scList.

  • transceiverList – list of lists of Transceiver objects. The outer list length must match scList.

  • spriteList – list of sprite information for each spacecraft. The outer list length must match scList.

  • modelDictionaryKeyList – list of the spacecraft model dictionary. The outer list length must match scList.

  • logoTextureList – list of the spacecraft logo texture file paths. The outer list length must match scList.

  • oscOrbitColorList – list of spacecraft osculating orbit colors. Can be 4 RGBA integer value (0-255), a color string, or None if default values should be used. The array must be of the length of the spacecraft list

  • trueOrbitColorList – list of spacecraft true or actual orbit colors. Can be 4 RGBA integer value (0-255), a color string, or None if default values should be used. The array must be of the length of the spacecraft list

  • trueOrbitColorInMsgList – list of color messages to read and provide the true orbit color at each time step. This overwrites the values set with trueOrbitColorList.

  • msmInfoList – list of MSM configuration messages

  • liveStream (bool) – flag if live data streaming to Vizard should be used

  • broadcastStream (bool) – flag if messages should be broadcast for listener Vizards to pick up.

  • noDisplay (bool) – flag if Vizard should run performance opNav (no Vizard display)

Returns:

copy of the vizInterface instance

Return type:

Module: vizInterface object

vizSupport.fixedframe2lla(r_GP_P, radEquator, radRatio)[source]

This method receives a cartesian point above a reference ellipsoid with equatorial radius and flattening ratio, then converts to lat/lon/alt.

Parameters:

  • r_GP_P – [m] position vector of the location G relative to the parent body

  • radEquator – [m] equatorial radius of the parent body

  • radRatio – ratio of polar radius to equatorial radius

Returns:

[rad,rad,m] lla_GP, position vector of the location G relative to parent body frame P in lat/lon/alt

Return type:

3-element list

vizSupport.lla2fixedframe(lla_GP, radEquator, radRatio)[source]

This method receives a latitude/longitude/altitude point above a reference ellipsoid with equatorial radius and flattening ratio, then converts to body-fixed frame coordinates.

Parameters:

  • lla_GP – [rad,rad,m] position vector of the location G relative to the parent body in lat/lon/alt components

  • radEquator – [m] equatorial radius of the parent body

  • radRatio – ratio of polar radius to equatorial radius

Returns:

[m] r_GP_P, position vector of the location G relative to parent body frame P in P frame components

Return type:

3-element list

vizSupport.setActuatorGuiSetting(viz, spacecraftName=None, viewThrusterPanel=None, viewThrusterHUD=None, viewRWPanel=None, viewRWHUD=None, showThrusterLabels=None, showRWLabels=None)[source]

This method sets the actuator GUI properties for a particular spacecraft. If no spacecraftName is provided, then the name of the first spacecraft in the simulation is assumed.

Parameters:

viz – copy of the vizInterface module

Returns:

void

Keyword Arguments:

  • spacecraftName (str) – The name of the spacecraft for which the actuator GUI options are set. Default: If not provided, then the name of the first spacecraft in the simulation is used.

  • viewThrusterPanel (bool) – flag if the GUI panel should be shown illustrating the thruster states Default: if not provided, then the Vizard default settings are used

  • viewRWPanel (bool) – flag if the GUI panel should be shown illustrating the reaction wheel states Default: if not provided, then the Vizard default settings are used

  • viewThrusterHUD (bool) – flag if the HUD visualization of the thruster states should be shown Default: if not provided, then the Vizard default settings are used

  • viewRWHUD (bool) – flag if the HUD visualization of the reaction wheel states should be shown Default: if not provided, then the Vizard default settings are used

  • showThrusterLabels (bool) – flag if the thruster labels should be shown Default: if not provided, then the Vizard default settings are used

  • showRWLabels (bool) – flag if the reaction wheel labels should be shown Default: if not provided, then the Vizard default settings are used

vizSupport.setInstrumentGuiSetting(viz, spacecraftName=None, viewCSSPanel=0, viewCSSCoverage=0, viewCSSBoresight=0, showCSSLabels=0, showGenericSensorLabels=0, showTransceiverLabels=0, showTransceiverFrustum=0, showTransceiverFrustrum=0, showGenericStoragePanel=0, showMultiShapeLabels=0)[source]

This method sets the instrument GUI properties for a particular spacecraft. If no spacecraftName is provided, then the name of the first spacecraft in the simulation is assumed.

Parameters:

viz – copy of the vizInterface module

Returns:

void

Keyword Arguments:

  • spacecraftName (str) – The name of the spacecraft for which the actuator GUI options are set. Default: 0 - If not provided, then the name of the first spacecraft in the simulation is used.

  • viewCSSPanel (int) – flag if the GUI panel should be shown (1) or hidden (-1) illustrating the CSS states Default: 0 - if not provided, then the Vizard default settings are used

  • viewCSSCoverage (int) – flag if the HUD spherical coverage of the CSS states should be shown (1) or hidden (-1) Default: 0 - if not provided, then the Vizard default settings are used

  • viewCSSBoresight (int) – flag if the HUD boresight axes of the CSS states should be shown (1) or hidden (-1) Default: 0 - if not provided, then the Vizard default settings are used

  • showCSSLabels (int) – flag if the CSS labels should be shown (1) or hidden (-1) Default: 0 - if not provided, then the Vizard default settings are used

  • showGenericSensorLabels (int) – flag if the generic sensor labels should be shown (1) or hidden (-1) Default: 0 - if not provided, then the Vizard default settings are used

  • showTransceiverLabels (int) – flag if the generic sensor labels should be shown (1) or hidden (-1) Default: 0 - if not provided, then the Vizard default settings are used

  • showTransceiverFrustum (int) – flag if the generic sensor labels should be shown (1) or hidden (-1) Default: 0 - if not provided, then the Vizard default settings are used

  • showGenericStoragePanel (int) – flag if the generic sensor labels should be shown (1) or hidden (-1) Default: 0 - if not provided, then the Vizard default settings are used

  • showMultiShapeLabels (int) – flag if the generic sensor labels should be shown (1) or hidden (-1) Default: 0 - if not provided, then the Vizard default settings are used

vizSupport.setSprite(shape, color=None)[source]

Helper function to set the sprite shape and optional sprite color. :param shape: Sprite shape, must be either “CIRCLE”, “SQUARE”, “TRIANGLE”, “STAR”, or “bskSat” :param kwargs: RGBA color, can be either color name string or a 4D list of [0,255] values :return: string of the protobuffer sprite setting