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.
94 lines
3.4 KiB
C++
94 lines
3.4 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 "EulerArray.h"
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#include "FullMatrix.h"
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namespace MbD {
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template<typename T>
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class EulerAngles;
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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 EulerAnglesDDot : public EulerArray<T>
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{
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//aEulerAnglesDot cAddot aAddot alpF alpf
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public:
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EulerAnglesDDot() : EulerArray<T>(3) {}
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void calc() override;
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EulerAnglesDot<T>* aEulerAnglesDot; //Use raw pointer to point backwards
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FColFMatDsptr cAddot;
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FMatDsptr aAddot;
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FColDsptr alpF, alpf;
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void aEulerAngles(EulerAngles<T>* eulerAngles);
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};
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template<typename T>
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inline void EulerAnglesDDot<T>::calc()
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{
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aEulerAnglesDot->calc();
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auto aEulerAngles = aEulerAnglesDot->aEulerAngles;
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auto rotOrder = aEulerAngles->rotOrder;
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auto cA = aEulerAngles->cA;
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auto cAdot = aEulerAnglesDot->cAdot;
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cAddot = 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 = aEulerAngles->at(i)->getValue();
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auto angleDot = aEulerAnglesDot->at(i)->getValue();
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auto angleDDot = this->at(i)->getValue();
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if (axis == 1) {
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cAddot->atiput(i, FullMatrix<double>::rotatexrotDotrotDDot(angle, angleDot, angleDDot));
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}
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else if (axis == 2) {
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cAddot->atiput(i, FullMatrix<double>::rotateyrotDotrotDDot(angle, angleDot, angleDDot));
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}
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else if (axis == 3) {
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cAddot->atiput(i, FullMatrix<double>::rotatezrotDotrotDDot(angle, angleDot, angleDDot));
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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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auto phiA = cA->at(0);
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auto theA = cA->at(1);
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auto psiA = cA->at(2);
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auto phiAdot = cAdot->at(0);
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auto theAdot = cAdot->at(1);
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auto psiAdot = cAdot->at(2);
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auto phiAddot = cAddot->at(0);
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auto theAddot = cAddot->at(1);
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auto psiAddot = cAddot->at(2);
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auto term = phiAddot->timesFullMatrix(theA->timesFullMatrix(psiA));
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auto term1 = phiAdot->timesFullMatrix(theAdot->timesFullMatrix(psiA));
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auto term2 = phiAdot->timesFullMatrix(theA->timesFullMatrix(psiAdot));
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auto term3 = phiAdot->timesFullMatrix(theAdot->timesFullMatrix(psiA));
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auto term4 = phiA->timesFullMatrix(theAddot->timesFullMatrix(psiA));
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auto term5 = phiA->timesFullMatrix(theAdot->timesFullMatrix(psiAdot));
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auto term6 = phiAdot->timesFullMatrix(theA->timesFullMatrix(psiAdot));
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auto term7 = phiA->timesFullMatrix(theAdot->timesFullMatrix(psiAdot));
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auto term8 = phiA->timesFullMatrix(theA->timesFullMatrix(psiAddot));
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aAddot = term->plusFullMatrix(term1)->plusFullMatrix(term2)
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->plusFullMatrix(term3)->plusFullMatrix(term4)
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->plusFullMatrix(term5)->plusFullMatrix(term6)
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->plusFullMatrix(term7)->plusFullMatrix(term8);
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}
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template<typename T>
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inline void EulerAnglesDDot<T>::aEulerAngles(EulerAngles<T>* eulerAngles)
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{
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aEulerAnglesDot->aEulerAngles = eulerAngles;
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}
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}
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