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.
64 lines
1.9 KiB
C++
64 lines
1.9 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 "DirectionCosineIeqcJec.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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DirectionCosineIeqcJec::DirectionCosineIeqcJec()
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{
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}
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DirectionCosineIeqcJec::DirectionCosineIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj) :
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DirectionCosineIecJec(frmi, frmj, axisi, axisj)
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{
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}
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void DirectionCosineIeqcJec::initialize()
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{
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DirectionCosineIecJec::initialize();
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pAijIeJepEI = std::make_shared<FullRow<double>>(4);
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ppAijIeJepEIpEI = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void DirectionCosineIeqcJec::initializeGlobally()
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{
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ppAjOIepEIpEI = std::static_pointer_cast<EndFrameqc>(frmI)->ppAjOepEpE(axisI);
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}
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FMatDsptr MbD::DirectionCosineIeqcJec::ppvaluepEIpEI()
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{
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return ppAijIeJepEIpEI;
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}
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FRowDsptr MbD::DirectionCosineIeqcJec::pvaluepEI()
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{
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return pAijIeJepEI;
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}
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void DirectionCosineIeqcJec::calcPostDynCorrectorIteration()
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{
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DirectionCosineIecJec::calcPostDynCorrectorIteration();
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pAjOIepEIT = std::static_pointer_cast<EndFrameqc>(frmI)->pAjOepET(axisI);
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for (size_t i = 0; i < 4; i++)
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{
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pAijIeJepEI->at(i) = pAjOIepEIT->at(i)->dot(aAjOJe);
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}
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for (size_t i = 0; i < 4; i++)
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{
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auto& ppAijIeJepEIipEI = ppAijIeJepEIpEI->at(i);
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auto& ppAjOIepEIipEI = ppAjOIepEIpEI->at(i);
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for (size_t j = 0; j < 4; j++)
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{
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ppAijIeJepEIipEI->at(j) = ppAjOIepEIipEI->at(j)->dot(aAjOJe);
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}
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}
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ppAijIeJepEIpEI->symLowerWithUpper();
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}
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