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.
58 lines
2.3 KiB
C++
58 lines
2.3 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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#pragma once
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#include "EigenDecomposition.h"
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namespace MbD {
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class MomentOfInertiaSolver : public EigenDecomposition
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{
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//See document 9100moment.fodt
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//m aJPP aJoo rPoP aAPo aJcmP aJcmPcopy rPcmP aJpp aAPp colOrder
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//aJoo == aJpp when rPoP == rPcmP and aAPo == aAPp
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public:
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static void example1();
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void doFullPivoting(size_t p);
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void forwardEliminateWithPivot(size_t p) override;
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void backSubstituteIntoDU() override;
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void postSolve() override;
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FColDsptr basicSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override;
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FColDsptr basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override;
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void preSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override;
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void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override;
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double getmatrixArowimaxMagnitude(size_t i) override;
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void doPivoting(size_t p) override;
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void setm(double mass);
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void setJPP(FMatDsptr mat);
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void setrPoP(FColDsptr col);
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void setAPo(FMatDsptr mat);
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void setrPcmP(FColDsptr col);
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FMatDsptr getJoo();
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DiagMatDsptr getJpp();
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FMatDsptr getAPp();
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void calc();
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void calcJoo();
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void calcJpp();
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void calcAPp();
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FColDsptr eigenvectorFor(double lam);
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void calcJppFromDiagJcmP();
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void calcJppFromFullJcmP();
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double modifiedArcCos(double val);
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double m = 0.0;
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FMatDsptr aJPP, aJoo, aAPo, aJcmP, aJcmPcopy, aAPp;
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FColDsptr rPoP, rPcmP;
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DiagMatDsptr aJpp;
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std::shared_ptr<FullRow<size_t>> colOrder;
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};
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}
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