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.
26 lines
985 B
C++
26 lines
985 B
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include <ostream>
|
|
|
|
#include "PosVelAccData.h"
|
|
|
|
using namespace MbD;
|
|
|
|
std::ostream& PosVelAccData::printOn(std::ostream& s) const
|
|
{
|
|
s << "refData = " << *refData << std::endl;
|
|
s << "rFfF = " << *rFfF << std::endl;
|
|
s << "vFfF = " << *vFfF << std::endl;
|
|
s << "omeFfF = " << *omeFfF << std::endl;
|
|
s << "aFfF = " << *aFfF << std::endl;
|
|
s << "alpFfF = " << *alpFfF << std::endl;
|
|
s << "aAFf = " << *aAFf;
|
|
return s;
|
|
}
|