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.
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
#include <fstream>
|
|
|
|
#include "ASMTMotion.h"
|
|
#include "Joint.h"
|
|
|
|
using namespace MbD;
|
|
|
|
void ASMTMotion::readMotionSeries(std::vector<std::string>& lines)
|
|
{
|
|
std::string str = lines[0];
|
|
std::string substr = "tionSeries";
|
|
auto pos = str.find(substr);
|
|
assert(pos != std::string::npos);
|
|
str.erase(0, pos + substr.length());
|
|
auto seriesName = readString(str);
|
|
assert(fullName("") == seriesName);
|
|
lines.erase(lines.begin());
|
|
readFXonIs(lines);
|
|
readFYonIs(lines);
|
|
readFZonIs(lines);
|
|
readTXonIs(lines);
|
|
readTYonIs(lines);
|
|
readTZonIs(lines);
|
|
}
|
|
|
|
void ASMTMotion::initMarkers()
|
|
{
|
|
}
|
|
|
|
void ASMTMotion::storeOnLevel(std::ofstream&, size_t)
|
|
{
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
|
|
void ASMTMotion::storeOnTimeSeries(std::ofstream&)
|
|
{
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
|
|
void MbD::ASMTMotion::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
|
|
{
|
|
ASMTConstraintSet::createMbD(mbdSys, mbdUnits);
|
|
auto mbdJt = std::static_pointer_cast<Joint>(mbdObject);
|
|
mbdSys->addJoint(mbdJt);
|
|
}
|