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.
54 lines
1.6 KiB
C++
54 lines
1.6 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 <sstream>
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#include "PosNewtonRaphson.h"
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#include "SystemSolver.h"
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#include "SimulationStoppingError.h"
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using namespace MbD;
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void PosNewtonRaphson::preRun()
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{
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->prePosIC(); });
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}
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void PosNewtonRaphson::incrementIterNo()
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{
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iterNo++;
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if (iterNo > iterMax)
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{
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std::stringstream ss;
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ss << "MbD: No convergence after " << iterNo << " iterations.";
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auto str = ss.str();
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system->logString(str);
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ss.str("");
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ss << "MbD: A geometrically incompatible system has been specified.";
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str = ss.str();
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system->logString(str);
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ss.str("");
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ss << "MbD: Or the system parts are distributed too far apart from the assembled positions.";
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str = ss.str();
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system->logString(str);
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throw SimulationStoppingError("iterNo > iterMax");
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}
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}
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void PosNewtonRaphson::askSystemToUpdate()
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{
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->postPosICIteration(); });
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}
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void PosNewtonRaphson::postRun()
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{
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->postPosIC(); });
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}
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