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.
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
#include "PosICDragLimitNewtonRaphson.h"
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#include "SystemSolver.h"
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#include "SimulationStoppingError.h"
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#include "Part.h"
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#include "Constraint.h"
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#include <algorithm>
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using namespace MbD;
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std::shared_ptr<PosICDragLimitNewtonRaphson> MbD::PosICDragLimitNewtonRaphson::With()
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{
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auto newtonRaphson = std::make_shared<PosICDragLimitNewtonRaphson>();
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newtonRaphson->initialize();
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return newtonRaphson;
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}
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void MbD::PosICDragLimitNewtonRaphson::preRun()
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{
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std::string str("MbD: Assembling system with limits. ");
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system->logString(str);
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->prePosIC(); });
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}
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void MbD::PosICDragLimitNewtonRaphson::initializeGlobally()
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{
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AnyPosICNewtonRaphson::initializeGlobally();
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iterMax = system->iterMaxPosKine;
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dxTol = system->errorTolPosKine;
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}
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void MbD::PosICDragLimitNewtonRaphson::setdragParts(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts)
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{
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(void) dragParts;
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throw SimulationStoppingError("To be implemented.");
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}
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void MbD::PosICDragLimitNewtonRaphson::run()
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{
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preRun();
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system->deactivateLimits();
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if (system->limitsSatisfied()) {
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std::string str("MbD: No limits reached. ");
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system->logString(str);
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return;
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}
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auto limits = system->limits();
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std::partition(limits->begin(), limits->end(), [](auto limit) { return !limit->satisfied(); });
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//Violated limits are in front.
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for (auto it = limits->begin(); it != limits->end(); it++) {
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auto limit = *it;
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limit->activate();
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preRun();
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initializeLocally();
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initializeGlobally();
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iterate();
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postRun();
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system->deactivateLimits();
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if (system->limitsSatisfied()) return;
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}
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throw SimulationStoppingError("Limits cannot be satisfiled.");
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}
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