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.
27 lines
640 B
C++
27 lines
640 B
C++
#include "ASMTRotationLimit.h"
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#include "ASMTAssembly.h"
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#include "SymbolicParser.h"
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#include "BasicUserFunction.h"
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#include "Constant.h"
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#include "RotationLimitIJ.h"
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using namespace MbD;
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std::shared_ptr<ASMTRotationLimit> MbD::ASMTRotationLimit::With()
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{
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auto rotationLimit = std::make_shared<ASMTRotationLimit>();
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rotationLimit->initialize();
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return rotationLimit;
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}
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std::shared_ptr<ItemIJ> MbD::ASMTRotationLimit::mbdClassNew()
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{
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return RotationLimitIJ::With();
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}
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void MbD::ASMTRotationLimit::storeOnLevel(std::ofstream& os, size_t level)
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{
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storeOnLevelString(os, level, "RotationLimit");
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ASMTLimit::storeOnLevel(os, level);
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}
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