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.
87 lines
2.4 KiB
C++
87 lines
2.4 KiB
C++
#include "AngleZConstraintIqcJc.h"
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#include "AngleZIeqcJec.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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MbD::AngleZConstraintIqcJc::AngleZConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : AngleZConstraintIJ(frmi, frmj)
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{
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pGpEI = std::make_shared<FullRow<double>>(4);
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ppGpEIpEI = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void MbD::AngleZConstraintIqcJc::initthezIeJe()
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{
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thezIeJe = std::make_shared<AngleZIeqcJec>(frmI, frmJ);
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}
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void MbD::AngleZConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque)
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{
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto rIpIeIp = frmIeqc->rpep();
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auto pAOIppEI = frmIeqc->pAOppE();
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auto aBOIp = frmIeqc->aBOp();
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auto fpAOIppEIrIpIeIp = std::make_shared<FullColumn<double>>(4, 0.0);
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auto lampGpE = pGpEI->transpose()->times(lam);
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auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp));
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jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5);
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}
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void MbD::AngleZConstraintIqcJc::calc_pGpEI()
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{
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pGpEI = thezIeJe->pvaluepEI();
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}
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void MbD::AngleZConstraintIqcJc::calc_ppGpEIpEI()
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{
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ppGpEIpEI = thezIeJe->ppvaluepEIpEI();
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}
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void MbD::AngleZConstraintIqcJc::calcPostDynCorrectorIteration()
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{
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AngleZConstraintIJ::calcPostDynCorrectorIteration();
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this->calc_pGpEI();
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this->calc_ppGpEIpEI();
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}
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void MbD::AngleZConstraintIqcJc::fillAccICIterError(FColDsptr col)
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{
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto qXdotI = efrmIqc->qXdot();
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auto qEdotI = efrmIqc->qEdot();
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auto sum = pGpEI->timesFullColumn(efrmIqc->qEddot());
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sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI));
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col->atiplusNumber(iG, sum);
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}
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void MbD::AngleZConstraintIqcJc::fillPosICError(FColDsptr col)
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{
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AngleZConstraintIJ::fillPosICError(col);
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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}
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void MbD::AngleZConstraintIqcJc::fillPosICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam);
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}
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void MbD::AngleZConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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}
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void MbD::AngleZConstraintIqcJc::fillVelICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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}
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void MbD::AngleZConstraintIqcJc::useEquationNumbers()
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{
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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iqEI = frmIeqc->iqE();
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}
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