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.
44 lines
1.5 KiB
C++
44 lines
1.5 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include "RackPinConstraintIJ.h"
|
|
|
|
namespace MbD {
|
|
class RackPinConstraintIqcJc : public RackPinConstraintIJ
|
|
{
|
|
//pGpXI pGpEI ppGpXIpEI ppGpEIpEI iqXI iqEI
|
|
public:
|
|
RackPinConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj);
|
|
|
|
void initxIeJeIe() override;
|
|
void initthezIeJe() override;
|
|
void addToJointForceI(FColDsptr col) override;
|
|
void addToJointTorqueI(FColDsptr col) override;
|
|
void calc_pGpEI();
|
|
void calc_pGpXI();
|
|
void calc_ppGpEIpEI();
|
|
void calc_ppGpXIpEI();
|
|
void calcPostDynCorrectorIteration() override;
|
|
void fillAccICIterError(FColDsptr col) override;
|
|
void fillPosICError(FColDsptr col) override;
|
|
void fillPosICJacob(SpMatDsptr mat) override;
|
|
void fillPosKineJacob(SpMatDsptr mat) override;
|
|
void fillVelICJacob(SpMatDsptr mat) override;
|
|
void init_xthez() override;
|
|
void useEquationNumbers() override;
|
|
|
|
FRowDsptr pGpXI, pGpEI;
|
|
FMatDsptr ppGpXIpEI, ppGpEIpEI;
|
|
size_t iqXI, iqEI;
|
|
|
|
};
|
|
}
|
|
|