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.
35 lines
1.6 KiB
C++
35 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 "MatrixLDU.h"
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#include "SparseMatrix.h"
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namespace MbD {
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class LDUSpMat : public MatrixLDU
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{
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//matrixL matrixD matrixU markowitzPivotRowCount markowitzPivotColCount privateIndicesOfNonZerosInPivotRow rowPositionsOfNonZerosInPivotColumn
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public:
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using MatrixSolver::basicSolvewithsaveOriginal;
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FColDsptr basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override;
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void decomposesaveOriginal(FMatDsptr fullMat, bool saveOriginal);
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void decomposesaveOriginal(SpMatDsptr spMat, bool saveOriginal);
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FColDsptr forAndBackSubsaveOriginal(FColDsptr fullCol, bool saveOriginal) override;
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double getmatrixArowimaxMagnitude(size_t i) override;
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void forwardSubstituteIntoL() override;
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void backSubstituteIntoDU() override;
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SpMatDsptr matrixA, matrixL, matrixU;
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DiagMatDsptr matrixD;
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size_t markowitzPivotRowCount, markowitzPivotColCount;
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std::shared_ptr<std::vector<size_t>> rowPositionsOfNonZerosInPivotColumn;
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};
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}
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