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.
68 lines
2.2 KiB
C++
68 lines
2.2 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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#include "DispCompIecJecKeqc.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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DispCompIecJecKeqc::DispCompIecJecKeqc()
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{
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}
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DispCompIecJecKeqc::DispCompIecJecKeqc(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, size_t axisk) : DispCompIecJecKec(frmi, frmj, frmk, axisk)
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{
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}
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void DispCompIecJecKeqc::initialize()
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{
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priIeJeKepEK = std::make_shared<FullRow<double>>(4);
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ppriIeJeKepEKpEK = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void DispCompIecJecKeqc::initializeGlobally()
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{
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ppAjOKepEKpEK = std::static_pointer_cast<EndFrameqc>(efrmK)->ppAjOepEpE(axisK);
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}
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void DispCompIecJecKeqc::calcPostDynCorrectorIteration()
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{
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auto frmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto frmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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auto efrmKqc = std::static_pointer_cast<EndFrameqc>(efrmK);
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aAjOKe = efrmKqc->aAjOe(axisK);
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rIeJeO = frmJqc->rOeO->minusFullColumn(frmIqc->rOeO);
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riIeJeKe = aAjOKe->dot(rIeJeO);
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//std::cout << "DispCompIecJecKeqc riIeJeKe = " << riIeJeKe << std::endl;
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pAjOKepEKT = efrmKqc->pAjOepET(axisK);
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ppAjOKepEKpEK = efrmKqc->ppAjOepEpE(axisK);
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for (size_t i = 0; i < 4; i++)
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{
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priIeJeKepEK->at(i) = ((pAjOKepEKT->at(i))->dot(rIeJeO));
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auto& ppAjOKepEKipEK = ppAjOKepEKpEK->at(i);
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auto& ppriIeJeKepEKipEK = ppriIeJeKepEKpEK->at(i);
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ppriIeJeKepEKipEK->at(i) = ((ppAjOKepEKipEK->at(i))->dot(rIeJeO));
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for (size_t j = i + 1; j < 4; j++)
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{
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auto ppriIeJeKepEKipEKj = (ppAjOKepEKipEK->at(i))->dot(rIeJeO);
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ppriIeJeKepEKipEK->at(j) = ppriIeJeKepEKipEKj;
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ppriIeJeKepEKpEK->at(j)->at(i) = ppriIeJeKepEKipEKj;
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}
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}
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}
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FMatDsptr DispCompIecJecKeqc::ppvaluepEKpEK()
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{
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return ppriIeJeKepEKpEK;
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}
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FRowDsptr MbD::DispCompIecJecKeqc::pvaluepEK()
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{
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return priIeJeKepEK;
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}
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