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.
115 lines
2.8 KiB
C++
115 lines
2.8 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 <cmath>
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#include "OrbitAngleZIecJec.h"
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#include "Numeric.h"
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using namespace MbD;
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MbD::OrbitAngleZIecJec::OrbitAngleZIecJec()
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{
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}
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MbD::OrbitAngleZIecJec::OrbitAngleZIecJec(EndFrmsptr frmi, EndFrmsptr frmj) : KinematicIeJe(frmi, frmj)
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{
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}
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void MbD::OrbitAngleZIecJec::calcPostDynCorrectorIteration()
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{
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auto x = xIeJeIe->value();
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auto y = yIeJeIe->value();
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auto sumOfSquares = x * x + (y * y);
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auto diffOfSquares = y * y - (x * x);
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auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
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auto thez0to2pi = Numeric::arcTan0to2piYoverX(y, x);
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thez = std::round((thez - thez0to2pi) / (2.0 * M_PI)) * (2.0 * M_PI) + thez0to2pi;
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cosOverSSq = x / sumOfSquares;
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sinOverSSq = y / sumOfSquares;
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twoCosSinOverSSqSq = 2.0 * x * y / sumOfSquaresSquared;
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dSqOverSSqSq = diffOfSquares / sumOfSquaresSquared;
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}
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void MbD::OrbitAngleZIecJec::initialize()
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{
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KinematicIeJe::initialize();
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this->init_xyIeJeIe();
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}
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void MbD::OrbitAngleZIecJec::initializeGlobally()
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{
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xIeJeIe->initializeGlobally();
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yIeJeIe->initializeGlobally();
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}
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void MbD::OrbitAngleZIecJec::initializeLocally()
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{
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xIeJeIe->initializeLocally();
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yIeJeIe->initializeLocally();
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}
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void MbD::OrbitAngleZIecJec::postInput()
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{
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xIeJeIe->postInput();
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yIeJeIe->postInput();
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if (thez == std::numeric_limits<double>::min()) {
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auto x = xIeJeIe->value();
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auto y = yIeJeIe->value();
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if (x > 0.0) {
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thez = std::atan2(y, x);
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}
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else {
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thez = Numeric::arcTan0to2piYoverX(y, x);
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}
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}
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KinematicIeJe::postInput();
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}
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void MbD::OrbitAngleZIecJec::postPosICIteration()
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{
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xIeJeIe->postPosICIteration();
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yIeJeIe->postPosICIteration();
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KinematicIeJe::postPosICIteration();
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}
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void MbD::OrbitAngleZIecJec::preAccIC()
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{
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if (thez == std::numeric_limits<double>::min()) this->prePosIC();
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xIeJeIe->preAccIC();
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yIeJeIe->preAccIC();
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KinematicIeJe::preAccIC();
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}
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void MbD::OrbitAngleZIecJec::prePosIC()
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{
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xIeJeIe->prePosIC();
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yIeJeIe->prePosIC();
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assert(thez != std::numeric_limits<double>::min());
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KinematicIeJe::prePosIC();
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}
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void MbD::OrbitAngleZIecJec::preVelIC()
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{
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xIeJeIe->preVelIC();
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yIeJeIe->preVelIC();
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KinematicIeJe::preVelIC();
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}
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void MbD::OrbitAngleZIecJec::simUpdateAll()
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{
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xIeJeIe->simUpdateAll();
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yIeJeIe->simUpdateAll();
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KinematicIeJe::simUpdateAll();
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}
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double MbD::OrbitAngleZIecJec::value()
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{
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return thez;
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}
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