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.
64 lines
2.0 KiB
C++
64 lines
2.0 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 "EndFrameqct2.h"
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#include "MarkerFrame.h"
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#include "System.h"
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#include "Symbolic.h"
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#include "SymTime.h"
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#include "EulerParameters.h"
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#include "CREATE.h"
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#include "EulerAngleszxz.h"
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#include "EulerAngleszxzDot.h"
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#include "EulerAngleszxzDDot.h"
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using namespace MbD;
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EndFrameqct2::EndFrameqct2() {
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}
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EndFrameqct2::EndFrameqct2(const std::string& str) : EndFrameqct(str) {
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}
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void EndFrameqct2::initpPhiThePsiptBlks()
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{
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auto& mbdTime = this->root()->time;
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auto eulerAngles = std::static_pointer_cast<EulerAngles<Symsptr>>(phiThePsiBlks);
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//pPhiThePsiptBlks = differentiateWRT(*eulerAngles, mbdTime);
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pPhiThePsiptBlks = eulerAngles->differentiateWRT(mbdTime);
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}
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void EndFrameqct2::initppPhiThePsiptptBlks()
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{
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auto& mbdTime = this->root()->time;
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auto eulerAnglesDot = std::static_pointer_cast<EulerAnglesDot<Symsptr>>(pPhiThePsiptBlks);
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ppPhiThePsiptptBlks = eulerAnglesDot->differentiateWRT(mbdTime);
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}
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void EndFrameqct2::evalAme()
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{
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auto eulerAngles = std::static_pointer_cast<EulerAngles<Symsptr>>(phiThePsiBlks);
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eulerAngles->calc();
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aAme = eulerAngles->aA;
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}
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void EndFrameqct2::evalpAmept()
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{
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auto eulerAnglesDot = std::static_pointer_cast<EulerAnglesDot<Symsptr>>(pPhiThePsiptBlks);
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eulerAnglesDot->calc();
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pAmept = eulerAnglesDot->aAdot;
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}
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void EndFrameqct2::evalppAmeptpt()
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{
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auto eulerAnglesDDot = std::static_pointer_cast<EulerAnglesDDot<Symsptr>>(ppPhiThePsiptptBlks);
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eulerAnglesDDot->calc();
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ppAmeptpt = eulerAnglesDDot->aAddot;
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}
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