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.
72 lines
1.4 KiB
C++
72 lines
1.4 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include <assert.h>
|
|
|
|
#include "Solver.h"
|
|
#include <string>
|
|
#include "SimulationStoppingError.h"
|
|
|
|
using namespace MbD;
|
|
|
|
void MbD::Solver::noop()
|
|
{
|
|
//No Operations
|
|
}
|
|
|
|
void Solver::initialize()
|
|
{
|
|
}
|
|
|
|
void Solver::initializeLocally()
|
|
{
|
|
}
|
|
|
|
void Solver::initializeGlobally()
|
|
{
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
|
|
void Solver::assignEquationNumbers()
|
|
{
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
|
|
void Solver::run()
|
|
{
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
|
|
void Solver::preRun()
|
|
{
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
|
|
void Solver::finalize()
|
|
{
|
|
}
|
|
|
|
void Solver::reportStats()
|
|
{
|
|
}
|
|
|
|
void Solver::postRun()
|
|
{
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
|
|
void Solver::logString(const std::string&)
|
|
{
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
|
|
void MbD::Solver::handleSingularMatrix()
|
|
{
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|