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.
170 lines
6.0 KiB
C++
170 lines
6.0 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 "GearConstraintIqcJqc.h"
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#include "EndFrameqc.h"
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#include "OrbitAngleZIeqcJeqc.h"
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#include "CREATE.h"
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using namespace MbD;
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MbD::GearConstraintIqcJqc::GearConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : GearConstraintIqcJc(frmi, frmj)
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{
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}
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void MbD::GearConstraintIqcJqc::calc_pGpEJ()
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{
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pGpEJ = orbitJeIe->pvaluepEI()->plusFullRow(orbitIeJe->pvaluepEJ()->times(this->ratio()));
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}
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void MbD::GearConstraintIqcJqc::calc_pGpXJ()
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{
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pGpXJ = orbitJeIe->pvaluepXI()->plusFullRow(orbitIeJe->pvaluepXJ()->times(this->ratio()));
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}
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void MbD::GearConstraintIqcJqc::calc_ppGpEIpEJ()
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{
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ppGpEIpEJ = orbitJeIe->ppvaluepEIpEJ()->transpose()->plusFullMatrix(orbitIeJe->ppvaluepEIpEJ()->times(this->ratio()));
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}
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void MbD::GearConstraintIqcJqc::calc_ppGpEIpXJ()
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{
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ppGpEIpXJ = orbitJeIe->ppvaluepXIpEJ()->transpose()->plusFullMatrix(orbitIeJe->ppvaluepEIpXJ()->times(this->ratio()));
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}
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void MbD::GearConstraintIqcJqc::calc_ppGpEJpEJ()
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{
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ppGpEJpEJ = orbitJeIe->ppvaluepEIpEI()->plusFullMatrix(orbitIeJe->ppvaluepEJpEJ()->times(this->ratio()));
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}
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void MbD::GearConstraintIqcJqc::calc_ppGpXIpEJ()
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{
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ppGpXIpEJ = orbitJeIe->ppvaluepEIpXJ()->transpose()->plusFullMatrix(orbitIeJe->ppvaluepXIpEJ()->times(this->ratio()));
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}
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void MbD::GearConstraintIqcJqc::calc_ppGpXIpXJ()
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{
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ppGpXIpXJ = orbitJeIe->ppvaluepXIpXJ()->transpose()->plusFullMatrix(orbitIeJe->ppvaluepXIpXJ()->times(this->ratio()));
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}
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void MbD::GearConstraintIqcJqc::calc_ppGpXJpEJ()
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{
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ppGpXJpEJ = orbitJeIe->ppvaluepXIpEI()->plusFullMatrix(orbitIeJe->ppvaluepXJpEJ()->times(this->ratio()));
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}
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void MbD::GearConstraintIqcJqc::calc_ppGpXJpXJ()
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{
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ppGpXJpXJ = orbitJeIe->ppvaluepXIpXI()->plusFullMatrix(orbitIeJe->ppvaluepXJpXJ()->times(this->ratio()));
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}
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void MbD::GearConstraintIqcJqc::calcPostDynCorrectorIteration()
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{
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GearConstraintIqcJc::calcPostDynCorrectorIteration();
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this->calc_pGpXJ();
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this->calc_pGpEJ();
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this->calc_ppGpXIpXJ();
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this->calc_ppGpXIpEJ();
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this->calc_ppGpEIpXJ();
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this->calc_ppGpEIpEJ();
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this->calc_ppGpXJpXJ();
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this->calc_ppGpXJpEJ();
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this->calc_ppGpEJpEJ();
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}
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void MbD::GearConstraintIqcJqc::fillAccICIterError(FColDsptr col)
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{
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GearConstraintIqcJc::fillAccICIterError(col);
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col->atiplusFullVectortimes(iqXJ, pGpXJ, lam);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto frmJeqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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auto qXdotI = frmIeqc->qXdot();
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auto qEdotI = frmIeqc->qEdot();
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auto qXdotJ = frmJeqc->qXdot();
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auto qEdotJ = frmJeqc->qEdot();
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double sum = 0.0;
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sum += pGpXJ->timesFullColumn(frmJeqc->qXddot());
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sum += pGpEJ->timesFullColumn(frmJeqc->qEddot());
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sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpXJ->timesFullColumn(qXdotJ)));
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sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpXJ->timesFullColumn(qXdotJ)));
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sum += qXdotJ->transposeTimesFullColumn(ppGpXJpXJ->timesFullColumn(qXdotJ));
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sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEJ->timesFullColumn(qEdotJ)));
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sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ)));
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sum += 2.0 * (qXdotJ->transposeTimesFullColumn(ppGpXJpEJ->timesFullColumn(qEdotJ)));
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sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ));
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col->atiplusNumber(iG, sum);
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}
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void MbD::GearConstraintIqcJqc::fillPosICError(FColDsptr col)
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{
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GearConstraintIqcJc::fillPosICError(col);
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col->atiplusFullVectortimes(iqXJ, pGpXJ, lam);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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}
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void MbD::GearConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat)
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{
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GearConstraintIqcJc::fillPosICJacob(mat);
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mat->atijplusFullRow(iG, iqXJ, pGpXJ);
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mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose());
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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auto ppGpXIpXJlam = ppGpXIpXJ->times(lam);
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mat->atijplusFullMatrix(iqXI, iqXJ, ppGpXIpXJlam);
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mat->atijplusTransposeFullMatrix(iqXJ, iqXI, ppGpXIpXJlam);
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auto ppGpEIpXJlam = ppGpEIpXJ->times(lam);
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mat->atijplusFullMatrix(iqEI, iqXJ, ppGpEIpXJlam);
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mat->atijplusTransposeFullMatrix(iqXJ, iqEI, ppGpEIpXJlam);
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mat->atijplusFullMatrixtimes(iqXJ, iqXJ, ppGpXJpXJ, lam);
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auto ppGpXIpEJlam = ppGpXIpEJ->times(lam);
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mat->atijplusFullMatrix(iqXI, iqEJ, ppGpXIpEJlam);
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mat->atijplusTransposeFullMatrix(iqEJ, iqXI, ppGpXIpEJlam);
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auto ppGpEIpEJlam = ppGpEIpEJ->times(lam);
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mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam);
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mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam);
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auto ppGpXJpEJlam = ppGpXJpEJ->times(lam);
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mat->atijplusFullMatrix(iqXJ, iqEJ, ppGpXJpEJlam);
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mat->atijplusTransposeFullMatrix(iqEJ, iqXJ, ppGpXJpEJlam);
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mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam);
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}
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void MbD::GearConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat)
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{
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GearConstraintIqcJc::fillPosKineJacob(mat);
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mat->atijplusFullRow(iG, iqXJ, pGpXJ);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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}
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void MbD::GearConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat)
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{
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GearConstraintIqcJc::fillVelICJacob(mat);
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mat->atijplusFullRow(iG, iqXJ, pGpXJ);
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mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose());
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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}
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void MbD::GearConstraintIqcJqc::initorbitsIJ()
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{
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orbitIeJe = CREATE<OrbitAngleZIeqcJeqc>::With(frmI, frmJ);
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orbitJeIe = CREATE<OrbitAngleZIeqcJeqc>::With(frmJ, frmI);
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}
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void MbD::GearConstraintIqcJqc::useEquationNumbers()
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{
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GearConstraintIqcJc::useEquationNumbers();
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auto frmJeqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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iqXJ = frmJeqc->iqX();
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iqEJ = frmJeqc->iqE();
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}
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std::string MbD::GearConstraintIqcJqc::constraintSpec()
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{
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return "GearConstraintIJ";
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}
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