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.
101 lines
2.9 KiB
C++
101 lines
2.9 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 "DispCompIeqcJecKeqc.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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DispCompIeqcJecKeqc::DispCompIeqcJecKeqc()
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{
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}
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DispCompIeqcJecKeqc::DispCompIeqcJecKeqc(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, size_t axisk) : DispCompIecJecKeqc(frmi, frmj, frmk, axisk)
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{
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}
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void DispCompIeqcJecKeqc::initialize()
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{
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DispCompIecJecKeqc::initialize();
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priIeJeKepXI = std::make_shared<FullRow<double>>(3);
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priIeJeKepEI = std::make_shared<FullRow<double>>(4);
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ppriIeJeKepEIpEI = std::make_shared<FullMatrix<double>>(4, 4);
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ppriIeJeKepXIpEK = std::make_shared<FullMatrix<double>>(3, 4);
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ppriIeJeKepEIpEK = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void DispCompIeqcJecKeqc::calcPostDynCorrectorIteration()
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{
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DispCompIecJecKeqc::calcPostDynCorrectorIteration();
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auto frmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto mprIeJeOpEIT = frmIqc->prOeOpE->transpose();
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auto& mpprIeJeOpEIpEI = frmIqc->pprOeOpEpE;
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for (size_t i = 0; i < 3; i++)
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{
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priIeJeKepXI->at(i) = 0.0 - (aAjOKe->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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priIeJeKepEI->at(i) = 0.0 - (aAjOKe->dot(mprIeJeOpEIT->at(i)));
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}
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for (size_t i = 0; i < 3; i++)
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{
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auto& ppriIeJeKepXIipEK = ppriIeJeKepXIpEK->at(i);
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for (size_t j = 0; j < 4; j++)
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{
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ppriIeJeKepXIipEK->at(j) = 0.0 - (pAjOKepEKT->at(j)->at(i));
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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& mpprIeJeOpEIipEI = mpprIeJeOpEIpEI->at(i);
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auto& ppriIeJeKepEIipEI = ppriIeJeKepEIpEI->at(i);
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ppriIeJeKepEIipEI->at(i) = 0.0 - (aAjOKe->dot(mpprIeJeOpEIipEI->at(i)));
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for (size_t j = 0; j < 4; j++)
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{
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auto ppriIeJeKepEIipEIj = 0.0 - (aAjOKe->dot(mpprIeJeOpEIipEI->at(j)));
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ppriIeJeKepEIipEI->at(j) = ppriIeJeKepEIipEIj;
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ppriIeJeKepEIpEI->at(j)->at(i) = ppriIeJeKepEIipEIj;
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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& mprIeJeOpEITi = mprIeJeOpEIT->at(i);
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auto& ppriIeJeKepEIipEK = ppriIeJeKepEIpEK->at(i);
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for (size_t j = 0; j < 4; j++)
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{
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ppriIeJeKepEIipEK->at(j) = 0.0 - (pAjOKepEKT->at(j)->dot(mprIeJeOpEITi));
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}
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}
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}
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FRowDsptr DispCompIeqcJecKeqc::pvaluepXI()
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{
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return priIeJeKepXI;
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}
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FRowDsptr DispCompIeqcJecKeqc::pvaluepEI()
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{
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return priIeJeKepEI;
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}
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FMatDsptr DispCompIeqcJecKeqc::ppvaluepXIpEK()
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{
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return ppriIeJeKepXIpEK;
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}
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FMatDsptr DispCompIeqcJecKeqc::ppvaluepEIpEK()
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{
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return ppriIeJeKepEIpEK;
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}
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FMatDsptr DispCompIeqcJecKeqc::ppvaluepEIpEI()
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{
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return ppriIeJeKepEIpEI;
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}
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