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.
116 lines
3.3 KiB
C++
116 lines
3.3 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 <algorithm>
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#include "EulerArray.h"
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#include "FullMatrix.h"
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#include "EulerAnglesDot.h"
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#include "Symbolic.h"
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namespace MbD {
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//template<typename T>
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//class EulerAnglesDot;
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template<typename T>
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class EulerAngles : public EulerArray<T>
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{
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//rotOrder cA aA
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//Used for user input.
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public:
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EulerAngles() : EulerArray<T>(3) {}
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EulerAngles(std::initializer_list<T> list) : EulerArray<T>{ list } {}
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void initialize() override;
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void calc() override;
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std::shared_ptr<EulerAnglesDot<T>> differentiateWRT(T var);
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void setRotOrder(size_t i, size_t j, size_t k);
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std::shared_ptr<std::vector<size_t>> rotOrder;
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FColFMatDsptr cA;
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FMatDsptr aA;
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};
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template<typename T>
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inline void EulerAngles<T>::initialize()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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template<>
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inline void EulerAngles<Symsptr>::calc()
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{
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cA = std::make_shared<FullColumn<FMatDsptr>>(3);
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for (size_t i = 0; i < 3; i++)
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{
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auto axis = rotOrder->at(i);
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auto angle = this->at(i)->getValue();
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if (axis == 1) {
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cA->atiput(i, FullMatrix<double>::rotatex(angle));
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}
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else if (axis == 2) {
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cA->atiput(i, FullMatrix<double>::rotatey(angle));
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}
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else if (axis == 3) {
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cA->atiput(i, FullMatrix<double>::rotatez(angle));
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}
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else {
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throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats.");
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}
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}
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aA = cA->at(0)->timesFullMatrix(cA->at(1)->timesFullMatrix(cA->at(2)));
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}
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template<>
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inline void EulerAngles<double>::calc()
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{
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cA = std::make_shared<FullColumn<FMatDsptr>>(3);
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for (size_t i = 0; i < 3; i++)
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{
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auto axis = rotOrder->at(i);
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auto angle = this->at(i);
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if (axis == 1) {
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cA->atiput(i, FullMatrix<double>::rotatex(angle));
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}
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else if (axis == 2) {
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cA->atiput(i, FullMatrix<double>::rotatey(angle));
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}
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else if (axis == 3) {
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cA->atiput(i, FullMatrix<double>::rotatez(angle));
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}
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else {
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throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats.");
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}
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}
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aA = cA->at(0)->timesFullMatrix(cA->at(1)->timesFullMatrix(cA->at(2)));
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}
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template<typename T>
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inline void EulerAngles<T>::calc()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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template<typename T>
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inline std::shared_ptr<EulerAnglesDot<T>> EulerAngles<T>::differentiateWRT(T var)
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{
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auto derivatives = std::make_shared<EulerAnglesDot<T>>();
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std::transform(this->begin(), this->end(), derivatives->begin(),
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[var](T term) { return term->differentiateWRT(var); }
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);
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derivatives->aEulerAngles = this;
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return derivatives;
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}
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template<typename T>
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inline void EulerAngles<T>::setRotOrder(size_t i, size_t j, size_t k)
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{
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rotOrder = std::make_shared<std::vector<size_t>>(3);
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rotOrder->at(0) = i;
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rotOrder->at(1) = j;
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rotOrder->at(2) = k;
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}
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}
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