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.
37 lines
1.5 KiB
C++
37 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 "FunctionXcParameter.h"
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namespace MbD {
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class Polynomial : public FunctionXcParameter
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{
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//pn = a0*x^0 + a1*x^1 ... an*x^n
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public:
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Polynomial() = default;
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Polynomial(Symsptr arg);
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Polynomial(Symsptr var, std::shared_ptr<std::vector<double>> coeffs);
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Polynomial(Symsptr var, std::shared_ptr<std::vector<Symsptr>> coeffs);
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Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
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Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
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Symsptr differentiateWRTx() override;
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Symsptr integrateWRT(Symsptr var) override;
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Symsptr copyWith(Symsptr arg) override;
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double getValue() override;
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void setIntegrationConstant(double integConstant) override;
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std::ostream& printOn(std::ostream& s) const override;
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std::shared_ptr<std::vector<Symsptr>> coeffs = std::make_shared<std::vector<Symsptr>>();
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};
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}
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