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feat(kcsolve): pybind11 bindings and Python solver support #298

Merged
forbes merged 3 commits from feat/solver-api-types into main 2026-02-20 01:10:02 +00:00
Conversation 0 Commits 3 Files Changed 12 +1882 -18

3 Commits

Author SHA1 Message Date
forbes
bd43e62822 docs(kcsolve): expand Python API reference with full method docs
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Details 
Expand SolveContext field descriptions (motions, simulation, bundle_fixed),
Constraint params table, marker explanations, Constraint.Limit descriptions,
MotionDef field descriptions, SimulationParams field descriptions, and all
optional IKCSolver methods with signatures, parameter docs, and usage
examples (interactive drag protocol, kinematic simulation, diagnostics,
export_native, capability queries).
 2026-02-19 19:06:08 -06:00
forbes
406e120180 docs: KCSolve architecture and Python API reference
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Build and Test / build (pull_request) Successful in 28m58s
Details 
- Replace OndselSolver architecture doc with KCSolve pluggable solver
  architecture covering IKCSolver interface, SolverRegistry, OndselAdapter,
  Python bindings, file layout, and testing
- Add kcsolve Python API reference with full type documentation, module
  functions, usage examples, and pybind11 vector-copy caveat
- Add INTER_SOLVER.md spec (previously untracked) with Phase 1 and Phase 2
  marked as complete
- Update SUMMARY.md with new page links
 2026-02-19 18:59:05 -06:00
forbes
7ea0078ba3 feat(kcsolve): pybind11 bindings and Python solver support
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Build and Test / build (pull_request) Successful in 29m19s
Details 
Add the kcsolve pybind11 module exposing the KCSolve C++ API to Python:

- PyIKCSolver trampoline enabling Python IKCSolver subclasses
- Bindings for all 5 enums, 10 structs, IKCSolver, and OndselAdapter
- Module functions wrapping SolverRegistry (available, load, joints_for,
  set_default, get_default, register_solver)
- PySolverHolder class forwarding virtual calls with GIL acquisition
- register_solver() for runtime Python solver registration

IKCSolver constructor moved from protected to public for pybind11
trampoline access (class remains abstract via 3 pure virtuals).

Includes 16 Python tests covering module import, type bindings, enum
values, registry functions, Python solver subclassing, and full
register/load/solve round-trip.

Closes #288
 2026-02-19 18:04:49 -06:00