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.
91 lines
2.6 KiB
C++
91 lines
2.6 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 "PosKineNewtonRaphson.h"
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#include "SystemSolver.h"
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#include "Part.h"
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#include "NotKinematicError.h"
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#include "Constraint.h"
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#include <iostream>
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using namespace MbD;
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void PosKineNewtonRaphson::initializeGlobally()
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{
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SystemNewtonRaphson::initializeGlobally();
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->fillqsu(x); });
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iterMax = system->iterMaxPosKine;
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dxTol = system->errorTolPosKine;
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}
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void PosKineNewtonRaphson::fillPyPx()
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{
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pypx->zeroSelf();
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) {
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item->fillPosKineJacob(pypx);
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});
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}
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void PosKineNewtonRaphson::passRootToSystem()
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{
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->setqsu(x); });
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}
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void PosKineNewtonRaphson::assignEquationNumbers()
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{
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//"Equation order is q,s,u."
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auto parts = system->parts();
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//auto contactEndFrames = system->contactEndFrames();
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//auto uHolders = system->uHolders();
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auto constraints = system->allConstraints();
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size_t varNo = 0;
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for (auto& part : *parts) {
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part->iqX(varNo);
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varNo = varNo + 3;
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part->iqE(varNo);
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varNo = varNo + 4;
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}
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//for (auto& endFrm : *contactEndFrames) {
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// endFrm->is(varNo);
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// varNo = varNo + endFrm->sSize();
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//}
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//for (auto& uHolder : *uHolders) {
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// uHolder->iu(varNo);
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// varNo += 1;
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//}
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size_t eqnNo = 0;
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for (auto& con : *constraints) {
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con->iG = eqnNo;
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eqnNo += 1;
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}
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n = eqnNo; //C++ uses index 0.
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if (varNo != eqnNo) {
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std::string str = "MbD: SYSTEM IS NOT PURE KINEMATIC.";
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system->logString(str);
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throw NotKinematicError("");
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}
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}
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void PosKineNewtonRaphson::preRun()
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{
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std::string str = "MbD: Solving for kinematic position.";
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system->logString(str);
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system->partsJointsMotionsLimitsDo([](std::shared_ptr<Item> item) { item->prePosKine(); });
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}
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void PosKineNewtonRaphson::fillY()
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{
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y->zeroSelf();
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) {
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item->fillPosKineError(y);
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//std::cout << item->name << *y << std::endl;
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//noop();
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});
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//std::cout << "Final" << *y << std::endl;
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}
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