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.
125 lines
4.6 KiB
C++
125 lines
4.6 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 <cstdint>
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#include <memory>
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#include <vector>
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#include <functional>
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#include "CartesianFrame.h"
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#include "EndFramec.h"
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#include "FullColumn.h"
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#include "EulerParameters.h"
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#include "EulerParametersDot.h"
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#include "CREATE.h"
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namespace MbD {
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class Part;
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class MarkerFrame;
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class EulerConstraint;
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class AbsConstraint;
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class PartFrame : public CartesianFrame
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{
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//ToDo: part iqX iqE qX qE qXdot qEdot qXddot qEddot aGeu aGabs markerFrames
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public:
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PartFrame();
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PartFrame(const std::string& str);
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System* root() override;
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void initialize() override;
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void initializeLocally() override;
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void initializeGlobally() override;
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void asFixed();
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void postInput() override;
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void calcPostDynCorrectorIteration() override;
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void setqX(FColDsptr x);
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FColDsptr getqX();
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void setqE(FColDsptr x);
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void setaAap(FMatDsptr mat);
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FColDsptr getqE();
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void setqXdot(FColDsptr x);
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FColDsptr getqXdot();
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void setomeOpO(FColDsptr x);
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FColDsptr getomeOpO();
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void setqXddot(FColDsptr x);
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FColDsptr getqXddot();
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void setqEddot(FColDsptr x);
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FColDsptr getqEddot();
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FColDsptr omeOpO();
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void setPart(Part* x);
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Part* getPart();
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void addMarkerFrame(std::shared_ptr<MarkerFrame> x);
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EndFrmsptr endFrame(const std::string& name);
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void aGabsDo(const std::function <void(std::shared_ptr<Constraint>)>& f);
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void markerFramesDo(const std::function <void(std::shared_ptr<MarkerFrame>)>& f);
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void removeRedundantConstraints(std::shared_ptr<std::vector<size_t>> redundantEqnNos) override;
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void reactivateRedundantConstraints() override;
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void constraintsReport() override;
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void prePosIC() override;
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void prePosKine() override;
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FColDsptr rOpO();
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FMatDsptr aAOp();
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FMatDsptr aC();
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FMatDsptr aCdot();
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FColDsptr alpOpO();
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FColFMatDsptr pAOppE();
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void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints) override;
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void fillRedundantConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints) override;
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void fillConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints) override;
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void fillqsu(FColDsptr col) override;
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void fillqsuWeights(DiagMatDsptr diagMat) override;
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void fillqsuddotlam(FColDsptr col) override;
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void fillqsulam(FColDsptr col) override;
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void fillqsudot(FColDsptr col) override;
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void fillqsudotWeights(DiagMatDsptr diagMat) override;
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void useEquationNumbers() override;
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void setqsu(FColDsptr col) override;
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void setqsulam(FColDsptr col) override;
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void setqsudotlam(FColDsptr col) override;
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void setqsudot(FColDsptr col) override;
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void setqsuddotlam(FColDsptr col) override;
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void postPosICIteration() override;
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void fillPosICError(FColDsptr col) override;
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void fillPosICJacob(SpMatDsptr mat) override;
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void postPosIC() override;
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void preDyn() override;
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void storeDynState() override;
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void fillPosKineError(FColDsptr col) override;
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void preVelIC() override;
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void postVelIC() override;
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void fillVelICError(FColDsptr col) override;
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void fillVelICJacob(SpMatDsptr mat) override;
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void preAccIC() override;
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void fillAccICIterError(FColDsptr col) override;
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void fillAccICIterJacob(SpMatDsptr mat) override;
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FMatDsptr aBOp();
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void fillPosKineJacob(SpMatDsptr mat) override;
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double suggestSmallerOrAcceptDynStepSize(double hnew) override;
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void postDynStep() override;
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Part* part = nullptr; //Use raw pointer when pointing backwards.
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size_t iqX = SIZE_MAX;
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size_t iqE = SIZE_MAX; //Position index of frame variables qX and qE in system list of variables
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FColDsptr qX = std::make_shared<FullColumn<double>>(3);
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std::shared_ptr<EulerParameters<double>> qE = CREATE<EulerParameters<double>>::With(4);
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FColDsptr qXdot = std::make_shared<FullColumn<double>>(3);
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std::shared_ptr<EulerParametersDot<double>> qEdot = CREATE<EulerParametersDot<double>>::With(4);
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FColDsptr qXddot = std::make_shared<FullColumn<double>>(3);
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FColDsptr qEddot = std::make_shared<FullColumn<double>>(4);
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std::shared_ptr<Constraint> aGeu;
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std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> aGabs;
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std::shared_ptr<std::vector<std::shared_ptr<MarkerFrame>>> markerFrames;
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};
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}
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