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.
38 lines
1.1 KiB
C++
38 lines
1.1 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "DispCompIecJecIe.h"
|
|
#include "EndFramec.h"
|
|
|
|
using namespace MbD;
|
|
|
|
MbD::DispCompIecJecIe::DispCompIecJecIe()
|
|
{
|
|
}
|
|
|
|
MbD::DispCompIecJecIe::DispCompIecJecIe(EndFrmsptr frmi, EndFrmsptr frmj, size_t axis) : KinematicIeJe(frmi, frmj), axis(axis)
|
|
{
|
|
}
|
|
|
|
void MbD::DispCompIecJecIe::calc_value()
|
|
{
|
|
aAjOIe = frmI->aAjOe(axis);
|
|
rIeJeO = frmJ->rOeO->minusFullColumn(frmI->rOeO);
|
|
riIeJeIe = aAjOIe->dot(rIeJeO);
|
|
}
|
|
|
|
void MbD::DispCompIecJecIe::calcPostDynCorrectorIteration()
|
|
{
|
|
calc_value();
|
|
}
|
|
|
|
double MbD::DispCompIecJecIe::value()
|
|
{
|
|
return riIeJeIe;
|
|
}
|