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.
115 lines
4.1 KiB
C++
115 lines
4.1 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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//This header file causes weird problems in Visual Studio when included in subclasses of std::vector or std::map. Why?
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#pragma once
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#include <memory>
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#include "EndFrameqct.h"
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#include "AtPointConstraintIqctJqc.h"
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#include "DirectionCosineConstraintIqctJqc.h"
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#include "TranslationConstraintIqctJqc.h"
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#include "DispCompIeqctJeqcKeqct.h"
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#include "DispCompIeqctJeqcO.h"
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namespace MbD {
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template<typename T>
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class CREATE {
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public:
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static std::shared_ptr<T> With(const std::string& name) {
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auto inst = std::make_shared<T>(name);
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<T> With(const std::string& expr, double unit) {
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auto inst = std::make_shared<T>(expr, unit);
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<T> With() {
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auto inst = std::make_shared<T>();
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<T> With(size_t n) {
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auto inst = std::make_shared<T>(n);
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<T> With(size_t m, size_t n) {
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auto inst = std::make_shared<T>(m, n);
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<T> With(std::initializer_list<double> listD) {
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auto inst = std::make_shared<T>(listD);
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<T> With(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj) {
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auto inst = std::make_shared<T>(frmi, frmj);
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<T> With(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, size_t axis) {
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auto inst = std::make_shared<T>(frmi, frmj, axis);
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<T> With(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, std::shared_ptr<EndFramec> frmk, size_t axisk) {
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auto inst = std::make_shared<T>(frmi, frmj, frmk, axisk);
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, size_t axis) {
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std::shared_ptr<Constraint> inst;
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std::string str = typeid(T).name();
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if (str.find("AtPointConstraintIqcJqc") != std::string::npos) {
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if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
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inst = std::make_shared<AtPointConstraintIqctJqc>(frmi, frmj, axis);
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}
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else {
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inst = std::make_shared<AtPointConstraintIqcJqc>(frmi, frmj, axis);
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}
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}
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else if(str.find("TranslationConstraintIqcJqc") != std::string::npos) {
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if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
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inst = std::make_shared<TranslationConstraintIqctJqc>(frmi, frmj, axis);
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}
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else {
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inst = std::make_shared<TranslationConstraintIqcJqc>(frmi, frmj, axis);
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}
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}
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<T> With(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, size_t axisi, size_t axisj) {
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auto inst = std::make_shared<T>(frmi, frmj, axisi, axisj);
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inst->initialize();
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return inst;
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}
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static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, size_t axisi, size_t axisj) {
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std::shared_ptr<Constraint> inst;
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std::string str = typeid(T).name();
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if (str.find("DirectionCosineConstraintIqcJqc") != std::string::npos) {
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if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
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inst = std::make_shared<DirectionCosineConstraintIqctJqc>(frmi, frmj, axisi, axisj);
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}
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else {
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inst = std::make_shared<DirectionCosineConstraintIqcJqc>(frmi, frmj, axisi, axisj);
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}
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}
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inst->initialize();
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return inst;
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}
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};
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}
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