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.
101 lines
3.2 KiB
C++
101 lines
3.2 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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#include "ASMTPrincipalMassMarker.h"
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#include <cassert>
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#include "FullMatrix.h"
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using namespace MbD;
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MbD::ASMTPrincipalMassMarker::ASMTPrincipalMassMarker()
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{
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name = "MassMarker";
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}
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std::shared_ptr<ASMTPrincipalMassMarker> MbD::ASMTPrincipalMassMarker::With()
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{
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auto asmt = std::make_shared<ASMTPrincipalMassMarker>();
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asmt->initialize();
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return asmt;
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}
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void MbD::ASMTPrincipalMassMarker::parseASMT(std::vector<std::string>& lines)
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{
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auto pos = lines[0].find_first_not_of("\t");
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auto leadingTabs = lines[0].substr(0, pos);
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assert(lines[0] == (leadingTabs + "Name"));
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lines.erase(lines.begin());
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name = readString(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "Position3D"));
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lines.erase(lines.begin());
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position3D = readColumnOfDoubles(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "RotationMatrix"));
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lines.erase(lines.begin());
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rotationMatrix = std::make_shared<FullMatrix<double>>(3);
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for (size_t i = 0; i < 3; i++)
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{
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auto row = readRowOfDoubles(lines[0]);
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rotationMatrix->atiput(i, row);
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lines.erase(lines.begin());
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}
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assert(lines[0] == (leadingTabs + "Mass"));
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lines.erase(lines.begin());
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mass = readDouble(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "MomentOfInertias"));
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lines.erase(lines.begin());
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momentOfInertias = std::make_shared<DiagonalMatrix<double>>(3);
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auto row = readRowOfDoubles(lines[0]);
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lines.erase(lines.begin());
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for (size_t i = 0; i < 3; i++)
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{
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momentOfInertias->atiput(i, row->at(i));
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}
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assert(lines[0] == (leadingTabs + "Density"));
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lines.erase(lines.begin());
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density = readDouble(lines[0]);
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lines.erase(lines.begin());
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}
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void MbD::ASMTPrincipalMassMarker::setMass(double m)
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{
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mass = m;
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}
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void MbD::ASMTPrincipalMassMarker::setDensity(double rho)
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{
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density = rho;
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}
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void MbD::ASMTPrincipalMassMarker::setMomentOfInertias(DiagMatDsptr mat)
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{
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momentOfInertias = mat;
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}
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// Overloads to simplify syntax.
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void MbD::ASMTPrincipalMassMarker::setMomentOfInertias(double a, double b, double c)
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{
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momentOfInertias = std::make_shared<DiagonalMatrix<double>>(ListD{ a, b, c });
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}
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void MbD::ASMTPrincipalMassMarker::storeOnLevel(std::ofstream& os, size_t level)
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{
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storeOnLevelString(os, level, "PrincipalMassMarker");
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storeOnLevelString(os, level + 1, "Name");
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storeOnLevelString(os, level + 2, name);
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ASMTSpatialItem::storeOnLevel(os, level);
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storeOnLevelString(os, level + 1, "Mass");
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storeOnLevelDouble(os, level + 2, mass);
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storeOnLevelString(os, level + 1, "MomentOfInertias");
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storeOnLevelArray(os, level + 2, *momentOfInertias);
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storeOnLevelString(os, level + 1, "Density");
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storeOnLevelDouble(os, level + 2, density);
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}
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