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
1.4 KiB
C++
36 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 "ASMTItem.h"
|
|
|
|
namespace MbD {
|
|
class ASMTSimulationParameters : public ASMTItem
|
|
{
|
|
//
|
|
public:
|
|
static std::shared_ptr<ASMTSimulationParameters> With();
|
|
void parseASMT(std::vector<std::string>& lines) override;
|
|
void settstart(double tstart);
|
|
void settend(double tend);
|
|
void sethmin(double hmin);
|
|
void sethmax(double hmax);
|
|
void sethout(double hout);
|
|
void seterrorTol(double errorTol);
|
|
void setmaxIter(size_t maxIter);
|
|
void storeOnLevel(std::ofstream& os, size_t level) override;
|
|
|
|
double tstart = 0.0, tend = 1.0, hmin = 1.0e-9, hmax = 1.0e9, hout = 0.1, errorTol = 1.0e-6;
|
|
double errorTolPosKine = 1.0e-6, errorTolAccKine = 1.0e-6, corAbsTol = 1.0e-6, corRelTol = 1.0e-6;
|
|
double intAbsTol = 1.0e-6, intRelTol = 1.0e-6, translationLimit = 1.0e9, rotationLimit = 1.0e9;
|
|
size_t iterMaxPosKine = 25, iterMaxAccKine = 25, iterMaxDyn = 4, orderMax = 5;
|
|
};
|
|
}
|
|
|