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.
124 lines
4.7 KiB
C++
124 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 "DistanceConstraintIqcJqc.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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#include "DistIeqcJeqc.h"
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using namespace MbD;
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MbD::DistanceConstraintIqcJqc::DistanceConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : DistanceConstraintIqcJc(frmi, frmj)
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{
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}
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void MbD::DistanceConstraintIqcJqc::calcPostDynCorrectorIteration()
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{
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DistanceConstraintIqcJc::calcPostDynCorrectorIteration();
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pGpXJ = distIeJe->pvaluepXJ();
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pGpEJ = distIeJe->pvaluepEJ();
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ppGpXIpXJ = distIeJe->ppvaluepXIpXJ();
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ppGpEIpXJ = distIeJe->ppvaluepEIpXJ();
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ppGpXJpXJ = distIeJe->ppvaluepXJpXJ();
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ppGpXIpEJ = distIeJe->ppvaluepXIpEJ();
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ppGpEIpEJ = distIeJe->ppvaluepEIpEJ();
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ppGpXJpEJ = distIeJe->ppvaluepXJpEJ();
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ppGpEJpEJ = distIeJe->ppvaluepEJpEJ();
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}
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void MbD::DistanceConstraintIqcJqc::fillAccICIterError(FColDsptr col)
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{
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DistanceConstraintIqcJc::fillAccICIterError(col);
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col->atiplusFullVectortimes(iqXJ, pGpXJ, lam);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto frmJeqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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auto qXdotI = frmIeqc->qXdot();
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auto qEdotI = frmIeqc->qEdot();
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auto qXdotJ = frmJeqc->qXdot();
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auto qEdotJ = frmJeqc->qEdot();
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double sum = 0.0;
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sum += pGpXJ->timesFullColumn(frmJeqc->qXddot());
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sum += pGpEJ->timesFullColumn(frmJeqc->qEddot());
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sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpXJ->timesFullColumn(qXdotJ)));
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sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpXJ->timesFullColumn(qXdotJ)));
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sum += qXdotJ->transposeTimesFullColumn(ppGpXJpXJ->timesFullColumn(qXdotJ));
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sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEJ->timesFullColumn(qEdotJ)));
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sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ)));
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sum += 2.0 * (qXdotJ->transposeTimesFullColumn(ppGpXJpEJ->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::DistanceConstraintIqcJqc::fillPosICError(FColDsptr col)
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{
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DistanceConstraintIqcJc::fillPosICError(col);
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col->atiplusFullVectortimes(iqXJ, pGpXJ, lam);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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}
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void MbD::DistanceConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat)
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{
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DistanceConstraintIqcJc::fillPosICJacob(mat);
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mat->atijplusFullRow(iG, iqXJ, pGpXJ);
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mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose());
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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auto ppGpXIpXJlam = ppGpXIpXJ->times(lam);
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mat->atijplusFullMatrix(iqXI, iqXJ, ppGpXIpXJlam);
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mat->atijplusTransposeFullMatrix(iqXJ, iqXI, ppGpXIpXJlam);
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auto ppGpEIpXJlam = ppGpEIpXJ->times(lam);
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mat->atijplusFullMatrix(iqEI, iqXJ, ppGpEIpXJlam);
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mat->atijplusTransposeFullMatrix(iqXJ, iqEI, ppGpEIpXJlam);
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mat->atijplusFullMatrixtimes(iqXJ, iqXJ, ppGpXJpXJ, lam);
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auto ppGpXIpEJlam = ppGpXIpEJ->times(lam);
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mat->atijplusFullMatrix(iqXI, iqEJ, ppGpXIpEJlam);
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mat->atijplusTransposeFullMatrix(iqEJ, iqXI, ppGpXIpEJlam);
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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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auto ppGpXJpEJlam = ppGpXJpEJ->times(lam);
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mat->atijplusFullMatrix(iqXJ, iqEJ, ppGpXJpEJlam);
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mat->atijplusTransposeFullMatrix(iqEJ, iqXJ, ppGpXJpEJlam);
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mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam);
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}
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void MbD::DistanceConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat)
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{
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DistanceConstraintIqcJc::fillPosKineJacob(mat);
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mat->atijplusFullRow(iG, iqXJ, pGpXJ);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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}
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void MbD::DistanceConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat)
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{
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DistanceConstraintIqcJc::fillVelICJacob(mat);
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mat->atijplusFullRow(iG, iqXJ, pGpXJ);
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mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose());
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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::DistanceConstraintIqcJqc::init_distIeJe()
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{
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distIeJe = CREATE<DistIeqcJeqc>::With(frmI, frmJ);
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}
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void MbD::DistanceConstraintIqcJqc::useEquationNumbers()
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{
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DistanceConstraintIqcJc::useEquationNumbers();
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auto frmJeqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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iqXJ = frmJeqc->iqX();
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iqEJ = frmJeqc->iqE();
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}
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std::string MbD::DistanceConstraintIqcJqc::constraintSpec()
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{
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return "DistanceConstraintIJ";
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}
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