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.
60 lines
1.5 KiB
C++
60 lines
1.5 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 <cassert>
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#include "GEFullMatFullPv.h"
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#include "SingularMatrixError.h"
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using namespace MbD;
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void GEFullMatFullPv::doPivoting(size_t p)
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{
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//"Do full pivoting."
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//| max pivotRow pivotCol rowi aij mag |
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double max = 0.0;
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size_t pivotRow = p;
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size_t pivotCol = p;
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for (size_t i = p; i < m; i++)
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{
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auto rowi = matrixA->at(i);
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for (size_t j = p; j < n; j++)
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{
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auto aij = rowi->at(j);
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if (aij != 0.0) {
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auto mag = aij;
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if (mag < 0.0) mag = -mag;
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if (max < mag) {
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max = mag;
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pivotRow = i;
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pivotCol = j;
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}
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}
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}
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}
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if (p != pivotRow) {
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matrixA->swapElems(p, pivotRow);
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rightHandSideB->swapElems(p, pivotRow);
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rowOrder->swapElems(p, pivotRow);
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}
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if (p != pivotCol) {
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for (auto& rowi : *matrixA) {
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rowi->swapElems(p, pivotCol);
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}
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colOrder->swapElems(p, pivotCol);
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}
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pivotValues->at(p) = max;
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if (max < singularPivotTolerance) throwSingularMatrixError("");
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}
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void GEFullMatFullPv::postSolve()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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