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
1.7 KiB
C++
68 lines
1.7 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 <cassert>
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#include "ASMTTime.h"
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#include "SymTime.h"
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#include "Constant.h"
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#include "Product.h"
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using namespace MbD;
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std::shared_ptr<ASMTTime> MbD::ASMTTime::With()
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{
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auto asmt = std::make_shared<ASMTTime>();
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asmt->initialize();
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return asmt;
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}
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MbD::ASMTTime::ASMTTime(Symsptr arg) : ExpressionX(arg)
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{
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}
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void MbD::ASMTTime::deleteMbD()
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{
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xx = nullptr;
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expression = nullptr;
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}
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void MbD::ASMTTime::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
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{
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auto mbdTime = mbdSys->time;
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if (xx == mbdTime) return;
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auto timeScale = sptrConstant(mbdUnits->time);
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auto geoTime = std::make_shared<Product>(timeScale, mbdTime);
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this->xexpression(mbdTime, geoTime->simplified(geoTime));
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}
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Symsptr MbD::ASMTTime::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>>)
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{
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return sptr;
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}
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Symsptr MbD::ASMTTime::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>>)
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{
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return sptr;
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}
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bool MbD::ASMTTime::isVariable()
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{
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return true;
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}
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void MbD::ASMTTime::setValue(double val)
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{
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xx->setValue(val);
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}
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Symsptr MbD::ASMTTime::copyWith(Symsptr arg)
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{
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return std::make_shared<ASMTTime>(arg);
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}
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