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.
36 lines
1.2 KiB
C++
36 lines
1.2 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 "ASMTSpatialItem.h"
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namespace MbD {
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class ASMTPrincipalMassMarker : public ASMTSpatialItem
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{
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//
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public:
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ASMTPrincipalMassMarker();
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static std::shared_ptr<ASMTPrincipalMassMarker> With();
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void parseASMT(std::vector<std::string>& lines) override;
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void setMass(double mass);
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void setDensity(double density);
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void setMomentOfInertias(DiagMatDsptr momentOfInertias);
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// Overloads to simplify syntax.
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void setMomentOfInertias(double a, double b, double c);
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void storeOnLevel(std::ofstream& os, size_t level) override;
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double mass = 1.0;
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double density = 10.0;
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DiagMatDsptr momentOfInertias = std::make_shared<DiagonalMatrix<double>>(ListD{ 1.0, 2.0, 3.0 });
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};
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}
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