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.
66 lines
3.1 KiB
C++
66 lines
3.1 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 <cstdint>
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#include <memory>
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#include "enum.h"
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#include "Item.h"
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namespace MbD {
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class Constraint : public Item
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{
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//iG aG lam mu lamDeriv owner
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public:
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Constraint();
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Constraint(const std::string& str);
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void initialize() override;
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virtual void addToJointForceI(FColDsptr col);
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virtual void addToJointTorqueI(FColDsptr col);
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void fillAccICIterJacob(SpMatDsptr mat) override;
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void fillConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints) override;
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virtual void fillConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints);
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void fillDispConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints) override;
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virtual void fillDispConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints);
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void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints) override;
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virtual void fillEssenConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints);
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void fillPerpenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints) override;
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virtual void fillPerpenConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints);
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void fillPosICError(FColDsptr col) override;
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void fillPosKineError(FColDsptr col) override;
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void fillqsuddotlam(FColDsptr col) override;
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void fillqsulam(FColDsptr col) override;
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void fillRedundantConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints) override;
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virtual void fillRedundantConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints);
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virtual bool isRedundant();
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void postInput() override;
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void preAccIC() override;
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void preDyn() override;
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void prePosIC() override;
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void prePosKine() override;
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void reactivateRedundantConstraints() override;
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void removeRedundantConstraints(std::shared_ptr<std::vector<size_t>> redundantEqnNos) override;
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void setConstant(double value);
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void setqsudotlam(FColDsptr col) override;
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void setqsuddotlam(FColDsptr col) override;
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void setqsulam(FColDsptr col) override;
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virtual ConstraintType type();
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virtual std::string constraintSpec() = 0;
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size_t iG = SIZE_MAX;
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double aG = 0.0; //Constraint function
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double aConstant = 0.0;
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double lam = 0.0; //Lambda is Lagrange Multiplier
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double mu = 0.0, lamDeriv = 0.0;
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};
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}
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