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.
105 lines
3.8 KiB
C++
105 lines
3.8 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 "TranslationConstraintIqcJqc.h"
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#include "DispCompIeqcJeqcKeqc.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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using namespace MbD;
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TranslationConstraintIqcJqc::TranslationConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi) :
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TranslationConstraintIqcJc(frmi, frmj, axisi)
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{
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}
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void TranslationConstraintIqcJqc::initriIeJeIe()
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{
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riIeJeIe = CREATE<DispCompIeqcJeqcKeqc>::With(frmI, frmJ, frmI, axisI);
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}
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void TranslationConstraintIqcJqc::calcPostDynCorrectorIteration()
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{
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TranslationConstraintIqcJc::calcPostDynCorrectorIteration();
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pGpXJ = riIeJeIe->pvaluepXJ();
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pGpEJ = riIeJeIe->pvaluepEJ();
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ppGpEIpXJ = riIeJeIe->ppvaluepXJpEK()->transpose();
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ppGpEIpEJ = riIeJeIe->ppvaluepEJpEK()->transpose();
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ppGpEJpEJ = riIeJeIe->ppvaluepEJpEJ();
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}
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void TranslationConstraintIqcJqc::useEquationNumbers()
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{
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TranslationConstraintIqcJc::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::TranslationConstraintIqcJqc::constraintSpec()
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{
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return "TranslationConstraintI" + MbDMath::xyzFromInt(axisI) + "J";
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}
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void TranslationConstraintIqcJqc::fillPosICError(FColDsptr col)
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{
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TranslationConstraintIqcJc::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 TranslationConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat)
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{
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TranslationConstraintIqcJc::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 TranslationConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat)
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{
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TranslationConstraintIqcJc::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 TranslationConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat)
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{
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TranslationConstraintIqcJc::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 TranslationConstraintIqcJqc::fillAccICIterError(FColDsptr col)
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{
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TranslationConstraintIqcJc::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 efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto efrmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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auto qEdotI = efrmIqc->qEdot();
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auto qXdotJ = efrmJqc->qXdot();
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auto qEdotJ = efrmJqc->qEdot();
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double sum = pGpXJ->timesFullColumn(efrmJqc->qXddot());
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sum += pGpEJ->timesFullColumn(efrmJqc->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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