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.
35 lines
1.6 KiB
C++
35 lines
1.6 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 "ASMTMotion.h"
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namespace MbD {
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class ASMTGeneralMotion : public ASMTMotion
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{
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//
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public:
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static std::shared_ptr<ASMTGeneralMotion> With();
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void parseASMT(std::vector<std::string>& lines) override;
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void readrIJI(std::vector<std::string>& lines);
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void readangIJJ(std::vector<std::string>& lines);
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void readRotationOrder(std::vector<std::string>& lines);
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std::shared_ptr<ItemIJ> mbdClassNew() override;
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void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
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void storeOnLevel(std::ofstream& os, size_t level) override;
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void storeOnTimeSeries(std::ofstream& os) override;
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std::shared_ptr<FullColumn<std::string>> rIJI = std::make_shared<FullColumn<std::string>>(3);
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std::shared_ptr<FullColumn<std::string>> angIJJ = std::make_shared<FullColumn<std::string>>(3);
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std::shared_ptr<std::vector<size_t>> rotationOrder = std::make_shared<std::vector<size_t>>(std::initializer_list<size_t>{ 1, 2, 3 });
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};
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}
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