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.
48 lines
1.4 KiB
C++
48 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 <memory>
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#include <vector>
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#include <functional>
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#include "ConstraintSet.h"
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namespace MbD {
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class Constraint;
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class EndFramec;
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using EndFrmsptr = std::shared_ptr<EndFramec>;
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class Joint : public ConstraintSet
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{
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//frmI frmJ constraints friction
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public:
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Joint();
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Joint(const std::string& str);
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virtual ~Joint() {}
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void initializeLocally() override;
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FColDsptr aFIeJtIe();
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FColDsptr aFIeJtO();
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FColDsptr aFX();
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FColDsptr aTIeJtIe();
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FColDsptr aTIeJtO();
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FColDsptr aTX();
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void constraintsReport() override;
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void fillRedundantConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints) override;
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FColDsptr jointForceI();
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FColDsptr jointTorqueI();
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void reactivateRedundantConstraints() override;
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void removeRedundantConstraints(std::shared_ptr<std::vector<size_t>> redundantEqnNos) override;
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std::shared_ptr<StateData> stateData() override;
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};
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}
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