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.
63 lines
1.8 KiB
C++
63 lines
1.8 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 "FunctionWithManyArgs.h"
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#include "Symbolic.h"
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using namespace MbD;
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FunctionWithManyArgs::FunctionWithManyArgs()
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{
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terms = std::make_shared<std::vector<Symsptr>>();
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}
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FunctionWithManyArgs::FunctionWithManyArgs(Symsptr term) : FunctionWithManyArgs()
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{
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terms->push_back(term);
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}
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FunctionWithManyArgs::FunctionWithManyArgs(Symsptr term, Symsptr term1) : FunctionWithManyArgs(term)
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{
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terms->push_back(term1);
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}
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FunctionWithManyArgs::FunctionWithManyArgs(Symsptr term, Symsptr term1, Symsptr term2) : FunctionWithManyArgs(term, term1)
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{
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terms->push_back(term2);
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}
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FunctionWithManyArgs::FunctionWithManyArgs(std::shared_ptr<std::vector<Symsptr>> _terms) {
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terms = std::make_shared<std::vector<Symsptr>>();
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for (size_t i = 0; i < _terms->size(); i++)
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terms->push_back(_terms->at(i));
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}
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std::shared_ptr<std::vector<Symsptr>> FunctionWithManyArgs::getTerms()
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{
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return terms;
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}
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void MbD::FunctionWithManyArgs::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
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{
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for (auto& term : *terms) term->createMbD(mbdSys, mbdUnits);
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}
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void MbD::FunctionWithManyArgs::arguments(Symsptr)
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{
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throw SimulationStoppingError("To be implemented.");
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}
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bool MbD::FunctionWithManyArgs::isConstant()
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{
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for (auto& term : *terms) {
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if (!term->isConstant()) return false;
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}
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return true;
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}
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