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.
151 lines
4.9 KiB
C++
151 lines
4.9 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 "ScrewConstraintIqcJqc.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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#include "DispCompIeqcJeqcIe.h"
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#include "AngleZIeqcJeqc.h"
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using namespace MbD;
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MbD::ScrewConstraintIqcJqc::ScrewConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : ScrewConstraintIqcJc(frmi, frmj)
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{
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pGpXJ = std::make_shared<FullRow<double>>(3);
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pGpEJ = std::make_shared<FullRow<double>>(4);
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ppGpEIpXJ = std::make_shared<FullMatrix<double>>(4, 3);
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ppGpEIpEJ = std::make_shared<FullMatrix<double>>(4, 4);
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ppGpEJpEJ = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void MbD::ScrewConstraintIqcJqc::initzIeJeIe()
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{
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zIeJeIe = std::make_shared<DispCompIeqcJeqcIe>(frmI, frmJ, 2);
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}
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void MbD::ScrewConstraintIqcJqc::initthezIeJe()
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{
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thezIeJe = std::make_shared<AngleZIeqcJeqc>(frmI, frmJ);
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}
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void MbD::ScrewConstraintIqcJqc::calc_pGpEJ()
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{
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pGpEJ = zIeJeIe->pvaluepEJ()->times(2.0 * M_PI)->minusFullRow(thezIeJe->pvaluepEJ()->times(pitch));
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}
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void MbD::ScrewConstraintIqcJqc::calc_pGpXJ()
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{
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pGpXJ = zIeJeIe->pvaluepXJ()->times(2.0 * M_PI);
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}
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void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpEJ()
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{
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ppGpEIpEJ = zIeJeIe->ppvaluepEIpEJ()->times(2.0 * M_PI)
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->minusFullMatrix(thezIeJe->ppvaluepEIpEJ()->times(pitch));
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}
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void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpXJ()
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{
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ppGpEIpXJ = zIeJeIe->ppvaluepEIpXJ()->times(2.0 * M_PI);
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}
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void MbD::ScrewConstraintIqcJqc::calc_ppGpEJpEJ()
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{
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ppGpEJpEJ = zIeJeIe->ppvaluepEJpEJ()->times(2.0 * M_PI)
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->minusFullMatrix(thezIeJe->ppvaluepEJpEJ()->times(pitch));
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}
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void MbD::ScrewConstraintIqcJqc::calcPostDynCorrectorIteration()
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{
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ScrewConstraintIqcJc::calcPostDynCorrectorIteration();
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this->calc_pGpXJ();
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this->calc_pGpEJ();
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this->calc_ppGpEIpXJ();
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this->calc_ppGpEIpEJ();
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this->calc_ppGpEJpEJ();
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}
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void MbD::ScrewConstraintIqcJqc::fillAccICIterError(FColDsptr col)
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{
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ScrewConstraintIqcJc::fillAccICIterError(col);
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col->atiplusFullVectortimes(iqXJ, pGpXJ, lam);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto frmJeqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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auto qEdotI = frmIeqc->qEdot();
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auto qXdotJ = frmJeqc->qXdot();
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auto qEdotJ = frmJeqc->qEdot();
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double sum = 0.0;
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sum += pGpXJ->timesFullColumn(frmJeqc->qXddot());
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sum += pGpEJ->timesFullColumn(frmJeqc->qEddot());
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sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpXJ->timesFullColumn(qXdotJ)));
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sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ)));
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sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ));
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col->atiplusNumber(iG, sum);
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}
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void MbD::ScrewConstraintIqcJqc::fillPosICError(FColDsptr col)
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{
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ScrewConstraintIqcJc::fillPosICError(col);
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col->atiplusFullVectortimes(iqXJ, pGpXJ, lam);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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}
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void MbD::ScrewConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat)
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{
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ScrewConstraintIqcJc::fillPosICJacob(mat);
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mat->atijplusFullRow(iG, iqXJ, pGpXJ);
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mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose());
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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auto ppGpEIpXJlam = ppGpEIpXJ->times(lam);
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mat->atijplusFullMatrix(iqEI, iqXJ, ppGpEIpXJlam);
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mat->atijplusTransposeFullMatrix(iqXJ, iqEI, ppGpEIpXJlam);
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auto ppGpEIpEJlam = ppGpEIpEJ->times(lam);
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mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam);
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mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam);
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mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam);
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}
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void MbD::ScrewConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat)
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{
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ScrewConstraintIqcJc::fillPosKineJacob(mat);
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mat->atijplusFullRow(iG, iqXJ, pGpXJ);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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}
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void MbD::ScrewConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat)
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{
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ScrewConstraintIqcJc::fillVelICJacob(mat);
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mat->atijplusFullRow(iG, iqXJ, pGpXJ);
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mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose());
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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}
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void MbD::ScrewConstraintIqcJqc::init_zthez()
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{
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zIeJeIe = CREATE<DispCompIeqcJeqcIe>::With(frmI, frmJ, 2);
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thezIeJe = CREATE<AngleZIeqcJeqc>::With(frmI, frmJ);
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}
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void MbD::ScrewConstraintIqcJqc::useEquationNumbers()
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{
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ScrewConstraintIqcJc::useEquationNumbers();
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auto frmJeqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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iqXJ = frmJeqc->iqX();
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iqEJ = frmJeqc->iqE();
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}
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std::string MbD::ScrewConstraintIqcJqc::constraintSpec()
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{
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return "ScrewConstraintIJ";
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}
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