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
1.5 KiB
C++
48 lines
1.5 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 <vector>
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#include <cstddef>
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#include <limits>
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// For Windows platforms only, cstddef includes size_t but not ssize_t
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#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
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#include <BaseTsd.h>
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typedef SSIZE_T ssize_t;
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#endif
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#include "MbDMath.h"
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namespace MbD {
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class Numeric : public MbDMath
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{
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//
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public:
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static double arcTan0to2piYoverX(double y, double x);
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static bool equaltol(double x, double xx, double tol);
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template <typename T>
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static bool isIncreasingVector(std::vector<T>* vec);
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};
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template<typename T>
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inline bool Numeric::isIncreasingVector(std::vector<T>* vec)
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{
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T previous, next;
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next = vec->at(0);
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for (size_t i = 1; i < vec->size(); i++)
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{
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previous = next;
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next = vec->at(i);
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if (previous > next) return false;
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}
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return true;
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}
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}
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