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
2.9 KiB
C++
87 lines
2.9 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 <functional>
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#include "CartesianFrame.h"
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#include "FullColumn.h"
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#include "FullMatrix.h"
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#include "EulerParametersDot.h"
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#include "EulerParametersDDot.h"
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namespace MbD {
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class CartesianFrame;
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class PartFrame;
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class EndFramec;
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using EndFrmsptr = std::shared_ptr<EndFramec>;
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class MarkerFrame : public CartesianFrame
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{
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//partFrame rpmp aApm rOmO aAOm prOmOpE pAOmpE pprOmOpEpE ppAOmpEpE endFrames
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public:
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MarkerFrame();
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MarkerFrame(const std::string& str);
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System* root() override;
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void initialize() override;
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void setPartFrame(PartFrame* partFrm);
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PartFrame* getPartFrame();
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void setrpmp(FColDsptr x);
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void setaApm(FMatDsptr mat);
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void addEndFrame(EndFrmsptr x);
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void initializeLocally() override;
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void initializeGlobally() override;
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void calcPostDynCorrectorIteration() override;
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size_t iqX();
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size_t iqE();
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void endFramesDo(const std::function <void(EndFrmsptr)>& f);
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void fillqsu(FColDsptr col) override;
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void fillqsuWeights(DiagMatDsptr diagMat) override;
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void fillqsuddotlam(FColDsptr col) override;
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void fillqsulam(FColDsptr col) override;
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void fillqsudot(FColDsptr col) override;
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void fillqsudotWeights(DiagMatDsptr diagMat) override;
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void setqsu(FColDsptr col) override;
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void setqsulam(FColDsptr col) override;
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void setqsudot(FColDsptr col) override;
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void setqsudotlam(FColDsptr col) override;
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void setqsuddotlam(FColDsptr col) override;
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void storeDynState() override;
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void postInput() override;
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void postPosICIteration() override;
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void postVelIC() override;
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void postPosIC() override;
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void preDyn() override;
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void prePosIC() override;
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void preVelIC() override;
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void preAccIC() override;
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FColDsptr qXdot();
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std::shared_ptr<EulerParametersDot<double>> qEdot();
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FColDsptr qXddot();
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FColDsptr qEddot();
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FColFMatDsptr pAOppE();
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FMatDsptr aBOp();
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void postDynStep() override;
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PartFrame* partFrame; //Use raw pointer when pointing backwards.
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FColDsptr rpmp = std::make_shared<FullColumn<double>>(3);
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FMatDsptr aApm = FullMatrix<double>::identitysptr(3);
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FColDsptr rOmO = std::make_shared<FullColumn<double>>(3);
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FMatDsptr aAOm = FullMatrix<double>::identitysptr(3);
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FMatDsptr prOmOpE;
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FColFMatDsptr pAOmpE;
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FMatFColDsptr pprOmOpEpE;
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FMatFMatDsptr ppAOmpEpE;
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std::shared_ptr<std::vector<EndFrmsptr>> endFrames;
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};
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}
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