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.
36 lines
1.3 KiB
C++
36 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 "Function.h"
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#include "Symbolic.h"
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#include "System.h"
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#include "Units.h"
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namespace MbD {
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class FunctionWithManyArgs : public Function
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{
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//terms
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public:
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FunctionWithManyArgs();
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FunctionWithManyArgs(Symsptr term);
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FunctionWithManyArgs(Symsptr term, Symsptr term1);
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FunctionWithManyArgs(Symsptr term, Symsptr term1, Symsptr term2);
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FunctionWithManyArgs(std::shared_ptr<std::vector<Symsptr>> _terms);
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std::shared_ptr<std::vector<Symsptr>> getTerms() override;
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void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
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void arguments(Symsptr args) override;
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bool isConstant() override;
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std::shared_ptr<std::vector<Symsptr>> terms;
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};
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}
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