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.
40 lines
1.1 KiB
C++
40 lines
1.1 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 "DistIecJec.h"
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#include "EndFramec.h"
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using namespace MbD;
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MbD::DistIecJec::DistIecJec()
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{
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}
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MbD::DistIecJec::DistIecJec(EndFrmsptr frmi, EndFrmsptr frmj) : KinematicIeJe(frmi, frmj)
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{
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}
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void MbD::DistIecJec::calcPostDynCorrectorIteration()
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{
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rIeJeO = frmJ->rOeO->minusFullColumn(frmI->rOeO);
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rIeJe = rIeJeO->length();
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this->calcPrivate();
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}
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void MbD::DistIecJec::calcPrivate()
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{
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if (rIeJe == 0.0) return;
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uIeJeO = rIeJeO->times(1.0 / rIeJe);
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muIeJeO = uIeJeO->negated();
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}
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double MbD::DistIecJec::value()
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{
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return rIeJe;
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}
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