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.
84 lines
2.4 KiB
C++
84 lines
2.4 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 "LDUSpMat.h"
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#include "FullColumn.h"
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using namespace MbD;
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FColDsptr LDUSpMat::basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal)
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{
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this->decomposesaveOriginal(spMat, saveOriginal);
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FColDsptr answer = this->forAndBackSubsaveOriginal(fullCol, saveOriginal);
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return answer;
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}
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void LDUSpMat::decomposesaveOriginal(FMatDsptr, bool)
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void LDUSpMat::decomposesaveOriginal(SpMatDsptr, bool)
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{
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throw SimulationStoppingError("To be implemented.");
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}
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FColDsptr LDUSpMat::forAndBackSubsaveOriginal(FColDsptr, bool)
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{
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throw SimulationStoppingError("To be implemented.");
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return FColDsptr();
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}
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double LDUSpMat::getmatrixArowimaxMagnitude(size_t i)
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{
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return matrixA->at(i)->maxMagnitude();
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}
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void LDUSpMat::forwardSubstituteIntoL()
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{
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//"L is lower triangular with nonzero and ones in diagonal."
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auto vectorc = std::make_shared<FullColumn<double>>(n);
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vectorc->at(0) = rightHandSideB->at(0);
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for (size_t i = 1; i < n; i++)
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{
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auto& rowi = matrixA->at(i);
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double sum = 0.0;
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for (auto const& keyValue : *rowi) {
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size_t j = keyValue.first;
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double duij = keyValue.second;
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sum += duij * vectorc->at(j);
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}
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vectorc->at(i) = rightHandSideB->at(i) - sum;
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}
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rightHandSideB = vectorc;
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}
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void LDUSpMat::backSubstituteIntoDU()
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{
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//"DU is upper triangular with nonzero diagonals."
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double sum, duij;
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for (size_t i = 0; i < m; i++)
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{
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rightHandSideB->at(i) = rightHandSideB->at(i) / matrixD->at(i);
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}
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answerX = std::make_shared<FullColumn<double>>(m);
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answerX->at(n - 1) = rightHandSideB->at(m - 1);
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for (ssize_t i = (ssize_t)n - 2; i >= 0; i--) //Use ssize_t because of decrement
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{
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auto& rowi = matrixU->at(i);
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sum = 0.0;
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for (auto const& keyValue : *rowi) {
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auto j = keyValue.first;
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duij = keyValue.second;
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sum += answerX->at(j) * duij;
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}
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answerX->at(i) = rightHandSideB->at(i) - sum;
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}
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}
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