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.
39 lines
1.0 KiB
C++
39 lines
1.0 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 "Cosine.h"
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#include "Sine.h"
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#include "Negative.h"
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using namespace MbD;
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MbD::Cosine::Cosine(Symsptr arg) : FunctionX(arg)
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{
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}
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double MbD::Cosine::getValue()
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{
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return std::cos(xx->getValue());
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}
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Symsptr MbD::Cosine::differentiateWRTx()
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{
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return std::make_shared<Negative>(std::make_shared<Sine>(xx));
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}
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Symsptr MbD::Cosine::copyWith(Symsptr arg)
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{
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return std::make_shared<Cosine>(arg);
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}
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std::ostream& MbD::Cosine::printOn(std::ostream& s) const
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{
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s << "cos(" << *xx << ")";
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return s;
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}
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