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.
53 lines
1.4 KiB
C++
53 lines
1.4 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 "Negative.h"
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#include "Constant.h"
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using namespace MbD;
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MbD::Negative::Negative(Symsptr arg) : FunctionX(arg)
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{
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}
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double MbD::Negative::getValue()
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{
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return -xx->getValue();
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}
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Symsptr MbD::Negative::differentiateWRTx()
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{
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return sptrConstant(-1);
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}
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Symsptr MbD::Negative::expandUntil(Symsptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
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{
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auto expand = xx->expandUntil(xx, set);
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return std::make_shared<Negative>(expand);
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}
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Symsptr MbD::Negative::simplifyUntil(Symsptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
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{
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auto simple = xx->simplifyUntil(xx, set);
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if (simple->isConstant()) {
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return sptrConstant(-simple->getValue());
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}
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return std::make_shared<Negative>(simple);
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}
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Symsptr MbD::Negative::copyWith(Symsptr arg)
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{
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return std::make_shared<Negative>(arg);
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}
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std::ostream& MbD::Negative::printOn(std::ostream& s) const
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{
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s << "-(" << *xx << ")";
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return s;
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}
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