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.
52 lines
1.7 KiB
C++
52 lines
1.7 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include <iostream>
|
|
#include <memory>
|
|
#include <typeinfo>
|
|
#include <assert.h>
|
|
|
|
#include "PrescribedMotion.h"
|
|
#include "EndFrameqct.h"
|
|
#include "Constant.h"
|
|
|
|
using namespace MbD;
|
|
|
|
PrescribedMotion::PrescribedMotion() {
|
|
|
|
}
|
|
|
|
PrescribedMotion::PrescribedMotion(const std::string& str) : Joint(str) {
|
|
|
|
}
|
|
|
|
void PrescribedMotion::initialize()
|
|
{
|
|
Joint::initialize();
|
|
xBlk = std::make_shared<Constant>(0.0);
|
|
yBlk = std::make_shared<Constant>(0.0);
|
|
zBlk = std::make_shared<Constant>(0.0);
|
|
phiBlk = std::make_shared<Constant>(0.0);
|
|
theBlk = std::make_shared<Constant>(0.0);
|
|
psiBlk = std::make_shared<Constant>(0.0);
|
|
}
|
|
|
|
void MbD::PrescribedMotion::initMotions()
|
|
{
|
|
auto xyzBlkList = std::initializer_list<Symsptr>{ xBlk, yBlk, zBlk };
|
|
std::static_pointer_cast<EndFrameqct>(frmI)->rmemBlks = (std::make_shared<FullColumn<Symsptr>>(xyzBlkList));
|
|
auto xyzRotBlkList = std::initializer_list<Symsptr>{ phiBlk, theBlk, psiBlk };
|
|
std::static_pointer_cast<EndFrameqct>(frmI)->phiThePsiBlks = (std::make_shared<FullColumn<Symsptr>>(xyzRotBlkList));
|
|
}
|
|
|
|
void PrescribedMotion::connectsItoJ(EndFrmsptr frmi, EndFrmsptr frmj)
|
|
{
|
|
Joint::connectsItoJ(frmi, frmj);
|
|
std::static_pointer_cast<EndFrameqc>(frmI)->initEndFrameqct();
|
|
}
|