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.
77 lines
2.4 KiB
Python
77 lines
2.4 KiB
Python
"""Parameter table mapping named variables to Expr Var nodes and current values."""
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from __future__ import annotations
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from typing import Dict, List
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import numpy as np
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from .expr import Var
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class ParamTable:
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"""Central registry of solver variables.
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Each parameter has a name, a current numeric value, an associated
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:class:`Var` expression node, and a fixed/free flag. Grounded
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body parameters are marked fixed so the pre-pass can substitute
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them as constants.
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"""
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def __init__(self):
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self._vars: Dict[str, Var] = {}
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self._values: Dict[str, float] = {}
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self._fixed: set[str] = set()
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self._free_order: List[str] = [] # insertion-ordered free names
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def add(self, name: str, value: float = 0.0, fixed: bool = False) -> Var:
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"""Create a parameter and return its Var node."""
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if name in self._vars:
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raise ValueError(f"Duplicate parameter: {name}")
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v = Var(name)
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self._vars[name] = v
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self._values[name] = value
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if fixed:
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self._fixed.add(name)
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else:
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self._free_order.append(name)
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return v
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def get_var(self, name: str) -> Var:
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return self._vars[name]
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def is_fixed(self, name: str) -> bool:
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return name in self._fixed
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def fix(self, name: str):
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"""Mark a parameter as fixed and remove it from the free list."""
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self._fixed.add(name)
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if name in self._free_order:
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self._free_order.remove(name)
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def get_env(self) -> Dict[str, float]:
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"""Return a snapshot of all current values (for Expr.eval)."""
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return dict(self._values)
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def free_names(self) -> List[str]:
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"""Return ordered list of free (non-fixed) parameter names."""
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return list(self._free_order)
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def n_free(self) -> int:
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return len(self._free_order)
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def get_value(self, name: str) -> float:
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return self._values[name]
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def set_value(self, name: str, value: float):
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self._values[name] = value
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def get_free_vector(self) -> np.ndarray:
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"""Current free-parameter values as a 1-D array."""
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return np.array([self._values[n] for n in self._free_order], dtype=np.float64)
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def set_free_vector(self, vec: np.ndarray):
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"""Bulk-update free parameters from a 1-D array."""
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for i, name in enumerate(self._free_order):
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self._values[name] = float(vec[i])
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