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.
138 lines
4.7 KiB
C++
138 lines
4.7 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 "ConstVelConstraintIqcJqc.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::ConstVelConstraintIqcJqc::ConstVelConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : ConstVelConstraintIqcJc(frmi, frmj)
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{
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pGpEJ = std::make_shared<FullRow<double>>(4);
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ppGpEIpEJ = std::make_shared<FullMatrix<double>>(4, 4);
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ppGpEJpEJ = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void MbD::ConstVelConstraintIqcJqc::calcPostDynCorrectorIteration()
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{
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ConstVelConstraintIqcJc::calcPostDynCorrectorIteration();
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auto aA01IeqcJeqc = std::dynamic_pointer_cast<DirectionCosineIeqcJeqc>(aA01IeJe);
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auto& pA01IeJepEJ = aA01IeqcJeqc->pAijIeJepEJ;
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auto& ppA01IeJepEIpEJ = aA01IeqcJeqc->ppAijIeJepEIpEJ;
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auto& ppA01IeJepEJpEJ = aA01IeqcJeqc->ppAijIeJepEJpEJ;
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auto aA10IeqcJeqc = std::dynamic_pointer_cast<DirectionCosineIeqcJeqc>(aA10IeJe);
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auto& pA10IeJepEJ = aA10IeqcJeqc->pAijIeJepEJ;
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auto& ppA10IeJepEIpEJ = aA10IeqcJeqc->ppAijIeJepEIpEJ;
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auto& ppA10IeJepEJpEJ = aA10IeqcJeqc->ppAijIeJepEJpEJ;
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for (size_t i = 0; i < 4; i++)
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{
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pGpEJ->atiput(i, pA01IeJepEJ->at(i) + pA10IeJepEJ->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& ppGpEIpEJi = ppGpEIpEJ->at(i);
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auto& ppA01IeJepEIpEJi = ppA01IeJepEIpEJ->at(i);
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auto& ppA10IeJepEIpEJi = ppA10IeJepEIpEJ->at(i);
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for (size_t j = 0; j < 4; j++)
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{
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auto ppGpEIpEJij = ppA01IeJepEIpEJi->at(j) + ppA10IeJepEIpEJi->at(j);
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ppGpEIpEJi->atiput(j, ppGpEIpEJij);
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}
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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& ppGpEJpEJi = ppGpEJpEJ->at(i);
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auto& ppA01IeJepEJpEJi = ppA01IeJepEJpEJ->at(i);
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auto& ppA10IeJepEJpEJi = ppA10IeJepEJpEJ->at(i);
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ppGpEJpEJi->atiput(i, ppA01IeJepEJpEJi->at(i) + ppA10IeJepEJpEJi->at(i));
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for (size_t j = i + 1; j < 4; j++)
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{
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auto ppGpEJpEJij = ppA01IeJepEJpEJi->at(j) + ppA10IeJepEJpEJi->at(j);
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ppGpEJpEJi->atiput(j, ppGpEJpEJij);
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ppGpEJpEJ->atijput(j, i, ppGpEJpEJij);
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}
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}
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}
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void MbD::ConstVelConstraintIqcJqc::fillAccICIterError(FColDsptr col)
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{
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ConstVelConstraintIqcJc::fillAccICIterError(col);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, 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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auto efrmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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auto qEdotJ = efrmJqc->qEdot();
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double sum = 0.0;
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sum += pGpEJ->timesFullColumn(efrmJqc->qEddot());
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sum += 2.0 * qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ));
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sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ));
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col->atiplusNumber(iG, sum);
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}
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void MbD::ConstVelConstraintIqcJqc::fillPosICError(FColDsptr col)
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{
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ConstVelConstraintIqcJc::fillPosICError(col);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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}
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void MbD::ConstVelConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat)
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{
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ConstVelConstraintIqcJc::fillPosICJacob(mat);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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auto ppGpEIpEJlam = ppGpEIpEJ->times(lam);
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mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam);
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mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam);
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mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam);
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}
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void MbD::ConstVelConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat)
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{
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ConstVelConstraintIqcJc::fillPosKineJacob(mat);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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}
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void MbD::ConstVelConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat)
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{
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ConstVelConstraintIqcJc::fillVelICJacob(mat);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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}
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void MbD::ConstVelConstraintIqcJqc::initA01IeJe()
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{
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aA01IeJe = CREATE<DirectionCosineIeqcJeqc>::With(frmI, frmJ, 0, 1);
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}
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void MbD::ConstVelConstraintIqcJqc::initA10IeJe()
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{
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aA10IeJe = CREATE<DirectionCosineIeqcJeqc>::With(frmI, frmJ, 1, 0);
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}
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void MbD::ConstVelConstraintIqcJqc::initialize()
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{
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ConstVelConstraintIqcJc::initialize();
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pGpEJ = std::make_shared<FullRow<double>>(4);
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ppGpEIpEJ = std::make_shared<FullMatrix<double>>(4, 4);
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ppGpEJpEJ = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void MbD::ConstVelConstraintIqcJqc::useEquationNumbers()
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{
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ConstVelConstraintIqcJc::useEquationNumbers();
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iqEJ = std::static_pointer_cast<EndFrameqc>(frmJ)->iqE();
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}
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std::string MbD::ConstVelConstraintIqcJqc::constraintSpec()
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{
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return "ConstVelConstraintIJ";
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}
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