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.
85 lines
1.9 KiB
C++
85 lines
1.9 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 <memory>
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#include <cassert>
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#include "VectorNewtonRaphson.h"
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#include "MatrixSolver.h"
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#include "GEFullMatParPv.h"
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#include "CREATE.h"
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#include "SystemSolver.h"
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#include "SingularMatrixError.h"
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using namespace MbD;
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void VectorNewtonRaphson::initializeGlobally()
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{
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throw SimulationStoppingError("To be implemented.");
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//system->fillVarVector(x);
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}
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void VectorNewtonRaphson::run()
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{
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this->preRun();
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this->initializeLocally();
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this->initializeGlobally();
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this->iterate();
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this->postRun();
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}
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std::shared_ptr<MatrixSolver> VectorNewtonRaphson::matrixSolverClassNew()
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{
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return CREATE<GEFullMatParPv>::With();
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}
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void VectorNewtonRaphson::fillY()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void VectorNewtonRaphson::calcyNorm()
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{
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yNorm = 0.5 * y->sumOfSquares();
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}
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void VectorNewtonRaphson::solveEquations()
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{
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try {
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this->basicSolveEquations();
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}
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catch (const SingularMatrixError& ex) {
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this->handleSingularMatrix();
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}
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}
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void VectorNewtonRaphson::updatexold()
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{
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xold = x;
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}
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void VectorNewtonRaphson::calcdxNorm()
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{
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dxNorm = dx->rootMeanSquare();
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}
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bool VectorNewtonRaphson::isConverged()
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{
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return dxNorms->at(iterNo) < dxTol || isConvergedToNumericalLimit();
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}
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void VectorNewtonRaphson::xEqualxoldPlusdx()
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{
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x = xold->plusFullColumn(dx);
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}
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void VectorNewtonRaphson::handleSingularMatrix()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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