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.
107 lines
3.0 KiB
C++
107 lines
3.0 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 <fstream>
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#include <iomanip>
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#include "SystemNewtonRaphson.h"
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#include "SystemSolver.h"
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#include "SparseMatrix.h"
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#include "MatrixSolver.h"
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#include "GESpMatParPvMarkoFast.h"
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#include "CREATE.h"
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#include "GESpMatParPvPrecise.h"
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using namespace MbD;
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void SystemNewtonRaphson::initializeGlobally()
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{
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this->assignEquationNumbers();
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system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) { item->useEquationNumbers(); });
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this->createVectorsAndMatrices();
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matrixSolver = this->matrixSolverClassNew();
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}
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void MbD::SystemNewtonRaphson::assignEquationNumbers()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void SystemNewtonRaphson::createVectorsAndMatrices()
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{
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x = std::make_shared<FullColumn<double>>(n);
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y = std::make_shared<FullColumn<double>>(n);
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pypx = std::make_shared <SparseMatrix<double>>(n, n);
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}
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std::shared_ptr<MatrixSolver> SystemNewtonRaphson::matrixSolverClassNew()
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{
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return CREATE<GESpMatParPvMarkoFast>::With();
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}
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void SystemNewtonRaphson::calcdxNorm()
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{
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VectorNewtonRaphson::calcdxNorm();
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std::stringstream ss;
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ss << std::setprecision(std::numeric_limits<double>::max_digits10);
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ss << "MbD: Convergence = " << dxNorm;
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auto str = ss.str();
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system->logString(str);
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}
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void SystemNewtonRaphson::basicSolveEquations()
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{
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auto debug = false;
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if (debug) {
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outputSpreadsheet();
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}
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dx = matrixSolver->solvewithsaveOriginal(pypx, y->negated(), false);
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}
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void SystemNewtonRaphson::handleSingularMatrix()
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{
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auto& r = *matrixSolver;
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std::string str = typeid(r).name();
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if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
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matrixSolver = CREATE<GESpMatParPvPrecise>::With();
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this->solveEquations();
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}
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else {
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str = typeid(r).name();
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if (str.find("GESpMatParPvPrecise") != std::string::npos) {
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str = "MbD: Singular Matrix Error. ";
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system->logString(str);
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matrixSolver->throwSingularMatrixError("SystemNewtonRaphson");
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}
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else {
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throw SimulationStoppingError("To be implemented.");
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}
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}
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}
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void MbD::SystemNewtonRaphson::outputSpreadsheet()
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{
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std::ofstream os("../../testapp/spreadsheetcpp.csv");
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os << std::setprecision(std::numeric_limits<double>::max_digits10);
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for (size_t i = 0; i < pypx->nrow(); i++)
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{
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auto rowi = pypx->at(i);
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for (size_t j = 0; j < pypx->ncol(); j++)
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{
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if (j > 0) os << '\t';
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if (rowi->find(j) == rowi->end()) {
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os << 0.0;
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}
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else {
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os << rowi->at(j);
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}
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}
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os << "\t\t" << y->at(i) << std::endl;
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}
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}
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