bluepebble.platform

Platform and array-geometry models used in Blue Pebble simulations.

Platform models public API.

class bluepebble.platform.TowedArrayPlatform(num_sensors, cable_length_m, sensor_spacing_m, array_depth_m, movement_controller=None, sensors=None, id=None, shape=None, velocity_mapping=None, reference_sensor_idx=0)[source]

A Stone Soup compliant platform that can tow an array of sensors.

This platform models a host vehicle towing a linear array of sensors. The sensors follow the host (or the sensor ahead of them) based on a defined cable length and sensor spacing.

Parameters:

  • num_sensors (int) – Number of sensors in the array.

  • cable_length_m (float) – Length of the main tow cable in meters (distance from host to first sensor).

  • sensor_spacing_m (float) – Spacing between subsequent sensors in meters.

  • array_depth_m (float) – Depth at which the array is towed in meters.

  • velocity_mapping (Sequence[int], optional) – Indices for velocity in the state vector. If not set, defaults to position_mapping indices + 1.

  • reference_sensor_idx (int, optional) – Index of the reference sensor. Defaults to 0.

  • movement_controller (Movable)

  • sensors (MutableSequence[Sensor])

  • id (str)

  • shape (Shape)

Variables:

  • towed_sensors (list[MovingMovable]) – A list of the simulated sensor objects trailing the platform.

  • platform_history (list[PlatformState]) – A history of the platform’s composite state over time.

num_sensors: int

Number of sensors in the array

cable_length_m: float

Length of the main tow cable in meters

sensor_spacing_m: float

Spacing between sensors in meters

array_depth_m: float

Depth at which the array is towed in meters

velocity_mapping: Sequence[int] | None

Indices for velocity in the state vector. If not set, defaults to position_mapping indices + 1

reference_sensor_idx: int

Index of the reference sensor

move(timestamp, **kwargs)[source]

Move the platform and all sensor followers.

Parameters:

  • timestamp (datetime) – The new timestamp to move the platform to.

  • **kwargs (dict) – Additional arguments passed to the transition models.

Return type:

None

get_platform_state_at(timestamp)[source]

Get the platform state at a specific timestamp.

Parameters:

timestamp (datetime) – The timestamp to query.

Returns:

The platform state if found, otherwise None.

Return type:

PlatformState or None

get_host_state_at(timestamp)[source]

Get the host vehicle’s state at a specific timestamp.

Parameters:

timestamp (datetime) – The timestamp to query.

Returns:

The host state if found, otherwise None.

Return type:

GroundTruthState or None

get_sensor_states_at(timestamp)[source]

Get the states of all towed sensors at a specific timestamp.

Parameters:

timestamp (datetime) – The timestamp to query.

Returns:

A list of ground truth states for each sensor in order, or None if any sensor state is missing for the timestamp.

Return type:

list[GroundTruthState] or None

property host_path: ndarray[tuple[Any, ...], dtype[float64]] | None

Get the complete path of the host vehicle.

Returns:

Array of shape (N, D) containing host-position history, where N is the number of time steps and D is spatial dimension. Returns None if no states exist.

Return type:

FloatArray | None

property sensor_paths: list[ndarray[tuple[Any, ...], dtype[float64]]]

Get sensor position paths as a list of arrays.

Returns:

One array per sensor, each containing position history over time.

Return type:

list[FloatArray]