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.
52 lines
1.8 KiB
C++
52 lines
1.8 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 "FullMotion.h"
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#include "CREATE.h"
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#include "System.h"
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using namespace MbD;
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MbD::FullMotion::FullMotion()
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{
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}
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MbD::FullMotion::FullMotion(const std::string& str) : PrescribedMotion(str)
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{
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}
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void MbD::FullMotion::connectsItoJ(EndFrmsptr frmi, EndFrmsptr frmj)
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{
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Joint::connectsItoJ(frmi, frmj);
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std::static_pointer_cast<EndFrameqc>(frmI)->initEndFrameqct2();
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}
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void MbD::FullMotion::initializeGlobally()
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{
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if (constraints->empty()) {
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initMotions();
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addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 0));
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addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1));
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addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2));
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addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1, 0));
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addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
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addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
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this->root()->hasChanged = true;
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}
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else {
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PrescribedMotion::initializeGlobally();
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}
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}
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void MbD::FullMotion::initMotions()
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{
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auto efrmI = std::static_pointer_cast<EndFrameqct>(frmI);
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efrmI->rmemBlks = frIJI;
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efrmI->phiThePsiBlks = fangIJJ;
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}
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