feat(solver): Phase 4+5 — diagnostics, preferences, assembly integration #34

Merged

forbes merged 3 commits from feat/phase5-assembly-integration into main

2026-02-21 05:48:26 +00:00

Author	SHA1	Message	Date
forbes-0023	adaa0f9a69	test(solver): add in-client console tests for Phase 5 assembly integration Paste-into-console test script exercising the full pipeline: - Solver registry and loading - Preference switching between kindred/ondsel - Fixed joint placement matching - Revolute joint DOF reporting - No-ground error code - Solve determinism/stability - Standalone kcsolve API (no FreeCAD Assembly objects) - Diagnose API for overconstrained detection	2026-02-20 23:34:39 -06:00
forbes-0023	9dad25e947	feat(solver): assembly integration — diagnose, drag protocol, system extraction (phase 5) - Extract _build_system() from solve() to enable reuse by diagnose() - Add diagnose(ctx) method: runs find_overconstrained() unconditionally - Add interactive drag protocol: pre_drag(), drag_step(), post_drag() - Add _run_diagnostics() and _extract_placements() helpers - Log warning when joint limits are present (not yet enforced) - KindredSolver now implements all IKCSolver methods needed for full Assembly workbench integration	2026-02-20 23:32:51 -06:00
forbes-0023	b4b8724ff1	feat(solver): diagnostics, half-space preference, and weight vectors (phase 4) - Add per-entity DOF analysis via Jacobian SVD (diagnostics.py) - Add overconstrained detection: redundant vs conflicting constraints - Add half-space tracking to preserve configuration branch (preference.py) - Add minimum-movement weighting for least-squares solve - Extend BFGS fallback with weight vector and quaternion renormalization - Add snapshot/restore and env accessor to ParamTable - Fix DistancePointPointConstraint sign for half-space tracking	2026-02-20 23:32:45 -06:00

Author

SHA1

Message

Date

forbes-0023

adaa0f9a69

test(solver): add in-client console tests for Phase 5 assembly integration

Paste-into-console test script exercising the full pipeline:
- Solver registry and loading
- Preference switching between kindred/ondsel
- Fixed joint placement matching
- Revolute joint DOF reporting
- No-ground error code
- Solve determinism/stability
- Standalone kcsolve API (no FreeCAD Assembly objects)
- Diagnose API for overconstrained detection

2026-02-20 23:34:39 -06:00

forbes-0023

9dad25e947

feat(solver): assembly integration — diagnose, drag protocol, system extraction (phase 5)

- Extract _build_system() from solve() to enable reuse by diagnose()
- Add diagnose(ctx) method: runs find_overconstrained() unconditionally
- Add interactive drag protocol: pre_drag(), drag_step(), post_drag()
- Add _run_diagnostics() and _extract_placements() helpers
- Log warning when joint limits are present (not yet enforced)
- KindredSolver now implements all IKCSolver methods needed for
  full Assembly workbench integration

2026-02-20 23:32:51 -06:00

forbes-0023

b4b8724ff1

feat(solver): diagnostics, half-space preference, and weight vectors (phase 4)

- Add per-entity DOF analysis via Jacobian SVD (diagnostics.py)
- Add overconstrained detection: redundant vs conflicting constraints
- Add half-space tracking to preserve configuration branch (preference.py)
- Add minimum-movement weighting for least-squares solve
- Extend BFGS fallback with weight vector and quaternion renormalization
- Add snapshot/restore and env accessor to ParamTable
- Fix DistancePointPointConstraint sign for half-space tracking

2026-02-20 23:32:45 -06:00

feat(solver): Phase 4+5 — diagnostics, preferences, assembly integration #34

3 Commits