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.
67 lines
2.2 KiB
C++
67 lines
2.2 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 <iostream>
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#include <unordered_set>
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#include <memory>
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#include <ostream>
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#include "MbDMath.h"
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#include "System.h"
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#include "Units.h"
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//#include "Constant.h"
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namespace MbD {
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class Constant;
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class Symbolic;
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using Symsptr = std::shared_ptr<Symbolic>;
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class Symbolic : public MbDMath
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{
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public:
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Symbolic();
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virtual ~Symbolic() {}
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static Symsptr times(Symsptr arg, Symsptr arg1);
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static Symsptr sum(Symsptr arg, Symsptr arg1);
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static Symsptr raisedTo(Symsptr x, Symsptr y);
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virtual void initialize();
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virtual Symsptr differentiateWRT(Symsptr var);
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virtual Symsptr integrateWRT(Symsptr var);
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virtual Symsptr simplified();
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virtual Symsptr simplified(Symsptr sptr);
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virtual Symsptr expandUntil(std::shared_ptr<std::unordered_set<Symsptr>> set);
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virtual Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set);
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virtual Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set);
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virtual bool isZero();
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virtual bool isOne();
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virtual bool isSum();
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virtual bool isProduct();
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virtual bool isConstant();
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virtual std::shared_ptr<std::vector<Symsptr>> getTerms();
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virtual void addTerm(Symsptr trm);
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virtual double getValue();
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virtual double getValue(double arg);
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virtual void setValue(double val);
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virtual void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
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virtual Symsptr clonesptr();
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std::shared_ptr<Constant> sptrConstant(double value);
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virtual bool isVariable();
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virtual void setIntegrationConstant(double integConstant);
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virtual std::ostream& printOn(std::ostream& s) const;
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friend std::ostream& operator<<(std::ostream& s, const Symbolic& sym)
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{
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return sym.printOn(s);
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}
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};
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}
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