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.
26 lines
1.0 KiB
C++
26 lines
1.0 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 "StepFunction.h"
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#include "Constant.h"
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using namespace MbD;
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MbD::StepFunction::StepFunction(Symsptr var, std::shared_ptr<std::vector<double>> consts, std::shared_ptr<std::vector<double>> trans)
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{
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xx = var;
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std::transform(consts->begin(), consts->end(), functions->begin(),
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[&](auto& constant) { return sptrConstant(constant); }
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);
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std::transform(trans->begin(), trans->end(), transitions->begin(),
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[&](auto& constant) { return sptrConstant(constant); }
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);
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}
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