98051ba0c9
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/ directory for integration in later phases - Add Create addon scaffold: package.xml, Init.py - Add expression DAG with eval, symbolic diff, simplification - Add parameter table with fixed/free variable tracking - Add quaternion rotation as polynomial Expr trees - Add RigidBody entity (7 DOF: position + unit quaternion) - Add constraint classes: Coincident, DistancePointPoint, Fixed - Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq - Add pre-solve passes: substitution + single-equation - Add DOF counting via Jacobian SVD rank - Add KindredSolver IKCSolver bridge for kcsolve integration - Add 82 unit tests covering all modules Registers as 'kindred' solver via kcsolve.register_solver() when loaded by Create's addon_loader.
43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
/***************************************************************************
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* Copyright (c) 2023 Ondsel, Inc. *
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* *
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* This file is part of OndselSolver. *
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* *
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* See LICENSE file for details about copyright. *
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***************************************************************************/
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#include "ASMTRefPoint.h"
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#include "ASMTMarker.h"
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#include "CREATE.h"
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using namespace MbD;
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void MbD::ASMTRefPoint::parseASMT(std::vector<std::string>& lines)
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{
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readPosition3D(lines);
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readRotationMatrix(lines);
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readMarkers(lines);
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}
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std::string MbD::ASMTRefPoint::fullName(const std::string& partialName)
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{
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return owner->fullName(partialName);
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}
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void MbD::ASMTRefPoint::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
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{
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for (auto& marker : *markers) {
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marker->createMbD(mbdSys, mbdUnits);
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}
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}
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void MbD::ASMTRefPoint::storeOnLevel(std::ofstream& os, size_t level)
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{
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storeOnLevelString(os, level, "RefPoint");
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ASMTSpatialItem::storeOnLevel(os, level);
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storeOnLevelString(os, level + 1, "Markers");
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for (auto& marker : *markers) {
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marker->storeOnLevel(os, level + 2);
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}
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}
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