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.
82 lines
2.5 KiB
C++
82 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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#include <iostream>
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#include <limits>
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#include <memory>
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#include <chrono>
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#include "MatrixSolver.h"
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#include "SparseMatrix.h"
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#include "FullMatrix.h"
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#include "SingularMatrixError.h"
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using namespace MbD;
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void MatrixSolver::initialize()
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{
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Solver::initialize();
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singularPivotTolerance = 4 * std::numeric_limits<double>::epsilon();
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}
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void MatrixSolver::setSystem(Solver*)
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{
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}
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FColDsptr MatrixSolver::solvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal)
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{
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this->timedSolvewithsaveOriginal(spMat, fullCol, saveOriginal);
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return answerX;
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}
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FColDsptr MatrixSolver::solvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal)
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{
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this->timedSolvewithsaveOriginal(fullMat, fullCol, saveOriginal);
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return answerX;
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}
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FColDsptr MatrixSolver::timedSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal)
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{
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auto start = std::chrono::steady_clock::now();
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this->basicSolvewithsaveOriginal(spMat, fullCol, saveOriginal);
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auto end = std::chrono::steady_clock::now();
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auto diff = end - start;
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millisecondsToRun = std::chrono::duration<double, std::milli>(diff).count();
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//std::cout << "milliseconds to run = " << millisecondsToRun << std::endl;
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return answerX;
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}
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FColDsptr MatrixSolver::timedSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool)
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{
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return FColDsptr();
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}
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void MatrixSolver::findScalingsForRowRange(size_t begin, size_t end)
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{
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//"Row element * scaling <= 1.0."
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rowScalings = std::make_shared<FullColumn<double>>(m);
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for (size_t i = begin; i < end; i++)
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{
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double maxRowMagnitude = this->getmatrixArowimaxMagnitude(i);
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if (maxRowMagnitude == 0.0) throwSingularMatrixError("");
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rowScalings->at(i) = 1.0 / maxRowMagnitude;
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}
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}
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void MatrixSolver::throwSingularMatrixError(const std::string& chars)
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{
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throw SingularMatrixError(chars);
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}
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void MatrixSolver::throwSingularMatrixError(const std::string& chars, std::shared_ptr<FullColumn<size_t>> redunEqnNos)
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{
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throw SingularMatrixError(chars, redunEqnNos);
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}
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