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.
37 lines
1.4 KiB
C++
37 lines
1.4 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include "ASMTConstraintSet.h"
|
|
#include "ForceTorqueData.h"
|
|
|
|
namespace MbD {
|
|
class ASMTLimit : public ASMTConstraintSet
|
|
{
|
|
//
|
|
public:
|
|
virtual void initMarkers();
|
|
void storeOnLevel(std::ofstream& os, size_t level) override;
|
|
void readMotionJoint(std::vector<std::string>& lines);
|
|
void readLimit(std::vector<std::string>& lines);
|
|
void readType(std::vector<std::string>& lines);
|
|
void readTol(std::vector<std::string>& lines);
|
|
void parseASMT(std::vector<std::string>& lines) override;
|
|
void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
|
|
void setmotionJoint(const std::string& _motionJoint);
|
|
void settype(const std::string& _type);
|
|
void setlimit(const std::string& _limit);
|
|
void settol(const std::string& _tol);
|
|
|
|
std::string motionJoint, type, limit, tol;
|
|
|
|
};
|
|
}
|
|
|