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
1.7 KiB
C++
53 lines
1.7 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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#pragma once
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#include <memory>
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#include "CartesianFrame.h"
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#include "FullColumn.h" //FColDsptr is defined
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#include "FullMatrix.h" //FMatDsptr is defined
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namespace MbD {
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class MarkerFrame;
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class EndFrameqc;
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class EndFramec : public CartesianFrame
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{
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//markerFrame rOeO aAOe
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public:
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EndFramec();
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EndFramec(const std::string& str);
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FMatDsptr aAeO();
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System* root() override;
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void initialize() override;
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void setMarkerFrame(MarkerFrame* markerFrm);
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MarkerFrame* getMarkerFrame();
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void initializeLocally() override;
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virtual void initEndFrameqct();
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virtual void initEndFrameqct2();
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void calcPostDynCorrectorIteration() override;
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FColDsptr aAjOe(size_t j);
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double riOeO(size_t i);
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virtual FColDsptr rmeO();
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virtual FColDsptr rpep();
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virtual FColFMatDsptr pAOppE();
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virtual FMatDsptr aBOp();
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std::shared_ptr<EndFrameqc> newCopyEndFrameqc();
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virtual bool isEndFrameqc();
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MarkerFrame* markerFrame; //Use raw pointer when pointing backwards.
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FColDsptr rOeO = std::make_shared<FullColumn<double>>(3);
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FMatDsptr aAOe = FullMatrix<double>::identitysptr(3);
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};
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//using EndFrmsptr = std::shared_ptr<EndFramec>;
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}
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