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.
38 lines
1.4 KiB
C++
38 lines
1.4 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 "Function.h"
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namespace MbD {
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class Symbolic;
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//using Symsptr = Symsptr;
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class FunctionXY : public Function
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{
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//x y
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public:
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FunctionXY();
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FunctionXY(Symsptr base, Symsptr exp);
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virtual Symsptr copyWith(Symsptr argx, Symsptr argy) = 0;
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Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
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Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
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void arguments(Symsptr args) override;
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void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
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Symsptr differentiateWRT(Symsptr var) override;
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virtual Symsptr differentiateWRTx() = 0;
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virtual Symsptr differentiateWRTy() = 0;
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bool isConstant() override;
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Symsptr x, y;
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};
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}
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