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.
109 lines
3.5 KiB
C++
109 lines
3.5 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 <memory>
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#include "ConstVelConstraintIqcJc.h"
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#include "DirectionCosineIeqcJec.h"
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#include "DirectionCosineIeqcJeqc.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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using namespace MbD;
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MbD::ConstVelConstraintIqcJc::ConstVelConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : ConstVelConstraintIJ(frmi, frmj)
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{
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pGpEI = std::make_shared<FullRow<double>>(4);
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ppGpEIpEI = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void MbD::ConstVelConstraintIqcJc::calcPostDynCorrectorIteration()
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{
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ConstVelConstraintIJ::calcPostDynCorrectorIteration();
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auto aA01IeqcJec = std::dynamic_pointer_cast<DirectionCosineIeqcJec>(aA01IeJe);
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auto& pA01IeJepEI = aA01IeqcJec->pAijIeJepEI;
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auto& ppA01IeJepEIpEI = aA01IeqcJec->ppAijIeJepEIpEI;
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auto aA10IeqcJec = std::dynamic_pointer_cast<DirectionCosineIeqcJec>(aA10IeJe);
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auto& pA10IeJepEI = aA10IeqcJec->pAijIeJepEI;
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auto& ppA10IeJepEIpEI = aA10IeqcJec->ppAijIeJepEIpEI;
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for (size_t i = 0; i < 4; i++)
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{
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pGpEI->atiput(i, pA01IeJepEI->at(i) + pA10IeJepEI->at(i));
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}
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for (size_t i = 0; i < 4; i++)
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{
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auto& ppGpEIpEIi = ppGpEIpEI->at(i);
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auto& ppA01IeJepEIpEIi = ppA01IeJepEIpEI->at(i);
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auto& ppA10IeJepEIpEIi = ppA10IeJepEIpEI->at(i);
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ppGpEIpEIi->atiput(i, ppA01IeJepEIpEIi->at(i) + ppA10IeJepEIpEIi->at(i));
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for (size_t j = i + 1; j < 4; j++)
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{
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auto ppGpEIpEIij = ppA01IeJepEIpEIi->at(j) + ppA10IeJepEIpEIi->at(j);
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ppGpEIpEIi->atiput(j, ppGpEIpEIij);
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ppGpEIpEI->atijput(j, i, ppGpEIpEIij);
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}
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}
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}
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void MbD::ConstVelConstraintIqcJc::fillAccICIterError(FColDsptr col)
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{
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto qEdotI = efrmIqc->qEdot();
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double sum = 0.0;
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sum += pGpEI->timesFullColumn(efrmIqc->qEddot());
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sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI));
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col->atiplusNumber(iG, sum);
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}
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void MbD::ConstVelConstraintIqcJc::fillPosICError(FColDsptr col)
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{
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Constraint::fillPosICError(col);
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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}
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void MbD::ConstVelConstraintIqcJc::fillPosICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam);
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}
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void MbD::ConstVelConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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}
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void MbD::ConstVelConstraintIqcJc::fillVelICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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}
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void MbD::ConstVelConstraintIqcJc::initA01IeJe()
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{
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aA01IeJe = CREATE<DirectionCosineIeqcJec>::With(frmI, frmJ, 0, 1);
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}
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void MbD::ConstVelConstraintIqcJc::initA10IeJe()
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{
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aA10IeJe = CREATE<DirectionCosineIeqcJec>::With(frmI, frmJ, 1, 0);
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}
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void MbD::ConstVelConstraintIqcJc::initialize()
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{
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ConstVelConstraintIJ::initialize();
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pGpEI = std::make_shared<FullRow<double>>(4);
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ppGpEIpEI = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void MbD::ConstVelConstraintIqcJc::useEquationNumbers()
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{
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iqEI = std::static_pointer_cast<EndFrameqc>(frmI)->iqE();
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}
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