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.
118 lines
2.8 KiB
C++
118 lines
2.8 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 <cmath>
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#include "AngleZIecJec.h"
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#include "Numeric.h"
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#include <iostream>
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using namespace MbD;
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MbD::AngleZIecJec::AngleZIecJec()
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{
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}
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MbD::AngleZIecJec::AngleZIecJec(EndFrmsptr frmi, EndFrmsptr frmj) : KinematicIeJe(frmi, frmj)
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{
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}
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void MbD::AngleZIecJec::calcPostDynCorrectorIteration()
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{
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auto cthez = aA00IeJe->value();
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auto sthez = aA10IeJe->value();
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auto sumOfSquares = cthez * cthez + (sthez * sthez);
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auto diffOfSquares = sthez * sthez - (cthez * cthez);
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auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
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auto thez0to2pi = Numeric::arcTan0to2piYoverX(sthez, cthez);
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thez = std::round((thez - thez0to2pi) / (2.0 * M_PI)) * (2.0 * M_PI) + thez0to2pi;
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//std::cout << "AngleZIecJec thez = " << thez << std::endl;
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cosOverSSq = cthez / sumOfSquares;
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sinOverSSq = sthez / sumOfSquares;
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twoCosSinOverSSqSq = 2.0 * cthez * sthez / sumOfSquaresSquared;
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dSqOverSSqSq = diffOfSquares / sumOfSquaresSquared;
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}
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void MbD::AngleZIecJec::initialize()
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{
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KinematicIeJe::initialize();
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this->init_aAijIeJe();
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}
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void MbD::AngleZIecJec::initializeGlobally()
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{
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aA00IeJe->initializeGlobally();
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aA10IeJe->initializeGlobally();
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}
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void MbD::AngleZIecJec::initializeLocally()
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{
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if (!aA00IeJe) init_aAijIeJe();
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aA00IeJe->initializeLocally();
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aA10IeJe->initializeLocally();
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}
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void MbD::AngleZIecJec::postInput()
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{
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aA00IeJe->postInput();
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aA10IeJe->postInput();
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if (thez == std::numeric_limits<double>::min()) {
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auto cthez = aA00IeJe->value();
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auto sthez = aA10IeJe->value();
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if (cthez > 0.0) {
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thez = std::atan2(sthez, cthez);
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}
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else {
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thez = Numeric::arcTan0to2piYoverX(sthez, cthez);
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}
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}
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KinematicIeJe::postInput();
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}
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void MbD::AngleZIecJec::postPosICIteration()
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{
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aA00IeJe->postPosICIteration();
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aA10IeJe->postPosICIteration();
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KinematicIeJe::postPosICIteration();
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}
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void MbD::AngleZIecJec::preAccIC()
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{
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aA00IeJe->preAccIC();
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aA10IeJe->preAccIC();
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KinematicIeJe::preAccIC();
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}
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void MbD::AngleZIecJec::prePosIC()
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{
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aA00IeJe->prePosIC();
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aA10IeJe->prePosIC();
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KinematicIeJe::prePosIC();
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}
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void MbD::AngleZIecJec::preVelIC()
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{
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aA00IeJe->preVelIC();
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aA10IeJe->preVelIC();
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KinematicIeJe::preVelIC();
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}
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void MbD::AngleZIecJec::simUpdateAll()
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{
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aA00IeJe->simUpdateAll();
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aA10IeJe->simUpdateAll();
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KinematicIeJe::simUpdateAll();
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}
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double MbD::AngleZIecJec::value()
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{
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return thez;
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}
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