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.
84 lines
1.7 KiB
C++
84 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 "Constant.h"
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#include "System.h"
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#include "Units.h"
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#include "Polynomial.h"
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using namespace MbD;
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Constant::Constant()
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{
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}
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Constant::Constant(double val) : Variable(val)
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{
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}
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Symsptr MbD::Constant::differentiateWRT(Symsptr)
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{
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return sptrConstant(0.0);
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}
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Symsptr MbD::Constant::integrateWRT(Symsptr var)
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{
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if (value == 0.0) return clonesptr();
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auto slope = sptrConstant(value);
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auto intercept = sptrConstant(0.0);
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auto coeffs = std::make_shared<std::vector<Symsptr>>();
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coeffs->push_back(intercept);
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coeffs->push_back(slope);
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return std::make_shared<Polynomial>(var, coeffs);
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}
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Symsptr MbD::Constant::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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bool Constant::isConstant()
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{
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return true;
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}
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Symsptr MbD::Constant::clonesptr()
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{
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return std::make_shared<Constant>(*this);
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}
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bool MbD::Constant::isZero()
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{
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return value == 0.0;
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}
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bool MbD::Constant::isOne()
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{
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return value == 1.0;
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}
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void MbD::Constant::createMbD(std::shared_ptr<System>, std::shared_ptr<Units>)
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{
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return;
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}
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double MbD::Constant::getValue()
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{
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return value;
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}
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double MbD::Constant::getValue(double)
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{
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return value;
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}
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std::ostream& Constant::printOn(std::ostream& s) const
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{
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return s << this->value;
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}
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