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.
68 lines
2.4 KiB
C++
68 lines
2.4 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 "VelKineSolver.h"
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#include "NotKinematicError.h"
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#include "SystemSolver.h"
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#include "Part.h"
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#include "Constraint.h"
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using namespace MbD;
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void VelKineSolver::assignEquationNumbers()
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{
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//"Equation order is q,s,u."
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auto parts = system->parts();
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//auto contactEndFrames = system->contactEndFrames();
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//auto uHolders = system->uHolders();
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auto constraints = system->allConstraints();
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size_t varNo = 0;
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for (auto& part : *parts) {
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part->iqX(varNo);
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varNo = varNo + 3;
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part->iqE(varNo);
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varNo = varNo + 4;
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}
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//for (auto& endFrm : *contactEndFrames) {
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// endFrm->is(varNo);
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// varNo = varNo + endFrm->sSize();
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//}
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//for (auto& uHolder : *uHolders) {
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// uHolder->iu(varNo);
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// varNo += 1;
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//}
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size_t eqnNo = 0;
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for (auto& con : *constraints) {
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con->iG = eqnNo;
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eqnNo += 1;
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}
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n = eqnNo; //C++ uses index 0.
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if (varNo != eqnNo) {
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throw NotKinematicError("");
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}
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}
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void VelKineSolver::run()
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{
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system->logString("MbD: Solving for kinematic velocity.");
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system->partsJointsMotionsLimitsDo([](std::shared_ptr<Item> item) { item->preVelIC(); });
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this->assignEquationNumbers();
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system->partsJointsMotionsLimitsDo([](std::shared_ptr<Item> item) { item->useEquationNumbers(); });
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errorVector = std::make_shared<FullColumn<double>>(n);
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jacobian = std::make_shared<SparseMatrix<double>>(n, n);
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errorVector->zeroSelf();
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->fillVelICError(errorVector); });
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jacobian->zeroSelf();
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->fillPosKineJacob(jacobian); });
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matrixSolver = this->matrixSolverClassNew();
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this->solveEquations();
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auto& qsudot = this->x;
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->setqsudot(qsudot); });
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system->partsJointsMotionsLimitsDo([](std::shared_ptr<Item> item) { item->postVelIC(); });
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}
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