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.
72 lines
1.9 KiB
C++
72 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 <algorithm>
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#include "Power.h"
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#include "Constant.h"
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#include "Ln.h"
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using namespace MbD;
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MbD::Power::Power()
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{
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}
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MbD::Power::Power(Symsptr bse, Symsptr ex) : FunctionXY(bse, ex)
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{
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}
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Symsptr MbD::Power::differentiateWRTx()
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{
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auto yminus1 = Symbolic::sum(y, sptrConstant(-1.0));
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auto power = Symbolic::raisedTo(x, yminus1);
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auto deriv = Symbolic::times(y, power);
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return deriv->simplified(deriv);
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}
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Symsptr MbD::Power::differentiateWRTy()
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{
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auto lnterm = std::make_shared<Ln>(x);
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auto deriv = Symbolic::times(clonesptr(), lnterm);
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return deriv->simplified();
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}
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Symsptr MbD::Power::copyWith(Symsptr argx, Symsptr argy)
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{
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return std::make_shared<Power>(argx, argy);
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}
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double MbD::Power::getValue()
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{
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return std::pow(x->getValue(), y->getValue());
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}
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Symsptr MbD::Power::clonesptr()
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{
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return std::make_shared<Power>(*this);
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}
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Symsptr MbD::Power::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
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{
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auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); });
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if (itr != set->end()) return sptr;
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auto newx = x->simplifyUntil(x, set);
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auto newy = y->simplifyUntil(y, set);
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if (y->isConstant() && y->getValue() == 1) {
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return newx;
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}
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auto copy = copyWith(newx, newy);
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return copy;
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}
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std::ostream& MbD::Power::printOn(std::ostream& s) const
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{
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s << "pow(" << *x << "," << *y << ")";
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return s;
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}
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