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.
111 lines
3.1 KiB
C++
111 lines
3.1 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 "ASMTSimulationParameters.h"
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using namespace MbD;
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std::shared_ptr<ASMTSimulationParameters> MbD::ASMTSimulationParameters::With()
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{
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auto asmt = std::make_shared<ASMTSimulationParameters>();
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asmt->initialize();
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return asmt;
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}
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void MbD::ASMTSimulationParameters::parseASMT(std::vector<std::string>& lines)
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{
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//tstart, tend, hmin, hmax, hout, errorTol;
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auto pos = lines[0].find_first_not_of("\t");
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auto leadingTabs = lines[0].substr(0, pos);
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assert(lines[0] == (leadingTabs + "tstart"));
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lines.erase(lines.begin());
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tstart = readDouble(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "tend"));
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lines.erase(lines.begin());
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tend = readDouble(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "hmin"));
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lines.erase(lines.begin());
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hmin = readDouble(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "hmax"));
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lines.erase(lines.begin());
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hmax = readDouble(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "hout"));
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lines.erase(lines.begin());
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hout = readDouble(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "errorTol"));
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lines.erase(lines.begin());
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errorTol = readDouble(lines[0]);
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lines.erase(lines.begin());
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}
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void MbD::ASMTSimulationParameters::settstart(double t)
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{
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tstart = t;
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}
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void MbD::ASMTSimulationParameters::settend(double t)
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{
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tend = t;
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}
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void MbD::ASMTSimulationParameters::sethmin(double h)
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{
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hmin = h;
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}
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void MbD::ASMTSimulationParameters::sethmax(double h)
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{
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hmax = h;
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}
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void MbD::ASMTSimulationParameters::sethout(double h)
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{
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hout = h;
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}
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void MbD::ASMTSimulationParameters::seterrorTol(double tol)
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{
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errorTol = tol;
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errorTolPosKine = tol;
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errorTolAccKine = tol;
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corAbsTol = tol;
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corRelTol = tol;
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intAbsTol = tol;
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intRelTol = tol;
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}
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void MbD::ASMTSimulationParameters::setmaxIter(size_t maxIter)
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{
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iterMaxPosKine = maxIter;
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iterMaxAccKine = maxIter;
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}
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void MbD::ASMTSimulationParameters::storeOnLevel(std::ofstream& os, size_t level)
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{
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storeOnLevelString(os, level, "SimulationParameters");
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storeOnLevelString(os, level + 1, "tstart");
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storeOnLevelDouble(os, level + 2, tstart);
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storeOnLevelString(os, level + 1, "tend");
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storeOnLevelDouble(os, level + 2, tend);
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storeOnLevelString(os, level + 1, "hmin");
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storeOnLevelDouble(os, level + 2, hmin);
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storeOnLevelString(os, level + 1, "hmax");
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storeOnLevelDouble(os, level + 2, hmax);
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storeOnLevelString(os, level + 1, "hout");
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storeOnLevelDouble(os, level + 2, hout);
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storeOnLevelString(os, level + 1, "errorTol");
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storeOnLevelDouble(os, level + 2, errorTol);
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}
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