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.
53 lines
1.7 KiB
C++
53 lines
1.7 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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#pragma once
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#include "EndFramec.h"
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#include "Symbolic.h"
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#include "EulerParametersDot.h"
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#include "EulerParametersDDot.h"
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namespace MbD {
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class EndFrameqct;
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class EndFrameqc : public EndFramec
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{
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//prOeOpE pprOeOpEpE pAOepE ppAOepEpE
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public:
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EndFrameqc();
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EndFrameqc(const std::string& str);
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void initialize() override;
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void initializeGlobally() override;
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void initEndFrameqct() override;
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void initEndFrameqct2() override;
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FMatFColDsptr ppAjOepEpE(size_t j);
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void calcPostDynCorrectorIteration() override;
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FMatDsptr pAjOepET(size_t j);
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FMatDsptr ppriOeOpEpE(size_t i);
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size_t iqX();
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size_t iqE();
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FRowDsptr priOeOpE(size_t i);
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FColDsptr qXdot();
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std::shared_ptr<EulerParametersDot<double>> qEdot();
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FColDsptr qXddot();
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FColDsptr qEddot();
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FColDsptr rpep() override;
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FColFMatDsptr pAOppE() override;
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FMatDsptr aBOp() override;
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bool isEndFrameqc() override;
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FMatDsptr prOeOpE;
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FMatFColDsptr pprOeOpEpE;
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FColFMatDsptr pAOepE;
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FMatFMatDsptr ppAOepEpE;
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std::shared_ptr<EndFrameqct> endFrameqct;
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};
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}
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