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.
62 lines
2.5 KiB
C++
62 lines
2.5 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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#pragma once
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#include <functional>
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#include "ItemIJ.h"
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namespace MbD {
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class ConstraintSet : public ItemIJ
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{
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//
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public:
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ConstraintSet();
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ConstraintSet(const std::string& str);
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void constraintsDo(const std::function <void(std::shared_ptr<Constraint>)>& f);
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void initialize() override;
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void initializeGlobally() override;
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void initializeLocally() override;
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void addConstraint(std::shared_ptr<Constraint> con);
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void fillAccICIterError(FColDsptr col) override;
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void fillAccICIterJacob(SpMatDsptr mat) override;
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void fillConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints) override;
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void fillDispConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints) override;
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void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints) override;
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void fillPerpenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints) override;
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void fillPosICError(FColDsptr col) override;
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void fillPosICJacob(SpMatDsptr mat) override;
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void fillPosKineError(FColDsptr col) override;
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void fillPosKineJacob(SpMatDsptr mat) override;
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void fillqsuddotlam(FColDsptr col) override;
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void fillqsulam(FColDsptr col) override;
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void fillqsudot(FColDsptr col) override;
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void fillqsudotWeights(DiagMatDsptr diagMat) override;
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void fillVelICError(FColDsptr col) override;
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void fillVelICJacob(SpMatDsptr mat) override;
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void postDynStep() override;
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void postInput() override;
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void postPosIC() override;
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void postPosICIteration() override;
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void preAccIC() override;
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void preDyn() override;
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void prePosIC() override;
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void prePosKine() override;
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void preVelIC() override;
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void setqsuddotlam(FColDsptr col) override;
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void setqsudotlam(FColDsptr col) override;
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void setqsulam(FColDsptr col) override;
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void useEquationNumbers() override;
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std::string constraintSpecs();
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std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> constraints;
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};
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}
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