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.
46 lines
1.6 KiB
C++
46 lines
1.6 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 <cstdint>
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#include "AnyGeneralSpline.h"
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namespace MbD {
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class GeneralSpline : public AnyGeneralSpline
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{
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//derivs degree index delta
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public:
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GeneralSpline() = default;
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GeneralSpline(Symsptr arg);
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double getValue() override;
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Symsptr differentiateWRTx() override;
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void arguments(Symsptr args) override;
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void initxdegreexsys(Symsptr arg, size_t order, std::shared_ptr<std::vector<double>> xarr, std::shared_ptr<std::vector<double>> yarr);
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void computeDerivatives();
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bool isCyclic() const;
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double derivativeAt(size_t derivativeOrder, double arg);
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void calcIndexAndDeltaFor(double xxx);
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void calcCyclicIndexAndDelta();
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void calcNonCyclicIndexAndDelta();
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void calcIndexAndDelta();
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void searchIndexFromto(size_t start, size_t end);
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Symsptr clonesptr() override;
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Symsptr copyWith(Symsptr arg) override;
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double y(double xxx);
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std::ostream& printOn(std::ostream& s) const override;
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FMatDsptr derivs;
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size_t degree = SIZE_MAX, index = SIZE_MAX;
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double delta = std::numeric_limits<double>::min();
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};
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}
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