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.
39 lines
1.3 KiB
C++
39 lines
1.3 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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#pragma once
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#include <memory>
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#include "FullMatrix.h"
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namespace MbD {
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class DifferenceOperator
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{
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//iStep order taylorMatrix operatorMatrix time timeNodes
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public:
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virtual ~DifferenceOperator() {}
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void calcOperatorMatrix();
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virtual void initialize();
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virtual void initializeLocally();
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virtual void setiStep(size_t i);
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virtual void setorder(size_t o);
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virtual void formTaylorMatrix() = 0;
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virtual void instantiateTaylorMatrix();
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virtual void formTaylorRowwithTimeNodederivative(size_t i, size_t ii, size_t k);
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void settime(double t);
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size_t iStep = 0, order = 0;
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FMatDsptr taylorMatrix, operatorMatrix;
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double time = 0.0;
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std::shared_ptr<std::vector<double>> timeNodes; //"Row of past times in order of increasing past."
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static FRowDsptr OneOverFactorials;
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};
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}
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