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.
44 lines
1.3 KiB
C++
44 lines
1.3 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 "LDUFullMatParPv.h"
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#include "FullMatrix.h"
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#include "SingularMatrixError.h"
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using namespace MbD;
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void LDUFullMatParPv::doPivoting(size_t p)
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{
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//"Use scalings. Do row pivoting."
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//| app max rowPivot aip mag |
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auto app = matrixA->at(p)->at(p);
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double max = app * rowScalings->at(p);
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if (max < 0.0) max = -max;
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auto rowPivot = p;
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for (size_t i = p + 1; i < m; i++)
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{
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auto aip = matrixA->at(i)->at(p);
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if (aip != 0.0) {
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auto mag = aip * rowScalings->at(i);
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if (mag < 0) mag = -mag;
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if (max < mag) {
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max = mag;
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rowPivot = i;
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}
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}
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}
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if (p != rowPivot) {
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matrixA->swapElems(p, rowPivot);
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rowScalings->swapElems(p, rowPivot);
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rowOrder->swapElems(p, rowPivot);
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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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