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.
117 lines
3.5 KiB
C++
117 lines
3.5 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 <fstream>
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#include "ASMTRotationalMotion.h"
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#include "ASMTAssembly.h"
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#include "SymbolicParser.h"
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#include "BasicUserFunction.h"
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#include "CREATE.h"
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#include "Constant.h"
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#include "ASMTJoint.h"
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#include "ASMTTime.h"
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using namespace MbD;
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std::shared_ptr<ASMTRotationalMotion> MbD::ASMTRotationalMotion::With()
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{
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auto asmt = std::make_shared<ASMTRotationalMotion>();
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asmt->initialize();
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return asmt;
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}
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void MbD::ASMTRotationalMotion::parseASMT(std::vector<std::string>& lines)
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{
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readName(lines);
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if (lines[0].find("MarkerI") != std::string::npos) {
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readMarkerI(lines);
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readMarkerJ(lines);
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}
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readMotionJoint(lines);
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readRotationZ(lines);
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}
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void MbD::ASMTRotationalMotion::readMotionJoint(std::vector<std::string>& lines)
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{
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assert(lines[0].find("MotionJoint") != std::string::npos);
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lines.erase(lines.begin());
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motionJoint = readString(lines[0]);
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lines.erase(lines.begin());
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}
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void MbD::ASMTRotationalMotion::readRotationZ(std::vector<std::string>& lines)
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{
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assert(lines[0].find("RotationZ") != std::string::npos);
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lines.erase(lines.begin());
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rotationZ = readString(lines[0]);
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lines.erase(lines.begin());
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}
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void MbD::ASMTRotationalMotion::initMarkers()
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{
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if (motionJoint == "") {
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assert(markerI != "");
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assert(markerJ != "");
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}
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else {
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auto jt = root()->jointAt(motionJoint);
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markerI = jt->markerI;
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markerJ = jt->markerJ;
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}
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}
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void MbD::ASMTRotationalMotion::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
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{
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ASMTMotion::createMbD(mbdSys, mbdUnits);
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auto parser = std::make_shared<SymbolicParser>();
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parser->owner = this;
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auto geoTime = owner->root()->geoTime();
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parser->variables->insert(std::make_pair("time", geoTime));
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auto userFunc = std::make_shared<BasicUserFunction>(rotationZ, 1.0);
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parser->parseUserFunction(userFunc);
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auto& geoPhi = parser->stack->top();
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//std::cout << *geoPhi << std::endl;
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geoPhi = Symbolic::times(geoPhi, sptrConstant(1.0 / mbdUnits->angle));
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geoPhi->createMbD(mbdSys, mbdUnits);
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//std::cout << *geoPhi << std::endl;
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auto simple = geoPhi->simplified(geoPhi);
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std::cout << *simple << std::endl;
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std::static_pointer_cast<ZRotation>(mbdObject)->phiBlk = simple;
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}
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std::shared_ptr<ItemIJ> MbD::ASMTRotationalMotion::mbdClassNew()
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{
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return CREATE<ZRotation>::With();
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}
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void MbD::ASMTRotationalMotion::setMotionJoint(const std::string& str)
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{
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motionJoint = str;
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}
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void MbD::ASMTRotationalMotion::setRotationZ(const std::string& rotZ)
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{
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rotationZ = rotZ;
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}
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void MbD::ASMTRotationalMotion::storeOnLevel(std::ofstream& os, size_t level)
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{
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storeOnLevelString(os, level, "RotationalMotion");
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ASMTItemIJ::storeOnLevel(os, level);
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storeOnLevelString(os, level + 1, "MotionJoint");
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storeOnLevelString(os, level + 2, motionJoint);
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storeOnLevelString(os, level + 1, "RotationZ");
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storeOnLevelString(os, level + 2, rotationZ);
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}
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void MbD::ASMTRotationalMotion::storeOnTimeSeries(std::ofstream& os)
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{
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os << "RotationalMotionSeries\t" << fullName("") << std::endl;
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ASMTItemIJ::storeOnTimeSeries(os);
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}
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