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.
54 lines
2.6 KiB
C++
54 lines
2.6 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 "Solver.h"
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#include "RowTypeMatrix.h"
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#include "FullMatrix.h"
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#include "FullColumn.h"
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#include "SparseMatrix.h"
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namespace MbD {
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class MatrixSolver : public Solver
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{
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//m n matrixA answerX rightHandSideB rowOrder colOrder rowScalings pivotValues singularPivotTolerance millisecondsToRun
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public:
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MatrixSolver(){}
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virtual ~MatrixSolver() {}
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void initialize() override;
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void setSystem(Solver* sys) override;
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virtual FColDsptr solvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal);
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virtual FColDsptr solvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal);
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virtual FColDsptr timedSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal);
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virtual FColDsptr timedSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal);
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virtual FColDsptr basicSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) = 0;
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virtual FColDsptr basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) = 0;
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virtual void preSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) = 0;
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virtual void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) = 0;
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virtual void doPivoting(size_t p) = 0;
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virtual void forwardEliminateWithPivot(size_t p) = 0;
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virtual void backSubstituteIntoDU() = 0;
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virtual void postSolve() = 0;
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virtual void findScalingsForRowRange(size_t begin, size_t end);
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virtual double getmatrixArowimaxMagnitude(size_t i) = 0;
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void throwSingularMatrixError(const std::string& chars);
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void throwSingularMatrixError(const std::string& chars, std::shared_ptr<FullColumn<size_t>> redunEqnNos);
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size_t m = 0, n = 0;
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FColDsptr answerX, rightHandSideB, rowScalings, pivotValues;
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std::shared_ptr<FullColumn<size_t>> rowOrder;
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std::shared_ptr<FullRow<size_t>> colOrder;
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double singularPivotTolerance = 0, millisecondsToRun = 0;
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};
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}
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