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.
42 lines
1.1 KiB
C++
42 lines
1.1 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 "Reciprocal.h"
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#include "Negative.h"
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#include "Power.h"
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#include "Constant.h"
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using namespace MbD;
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MbD::Reciprocal::Reciprocal(Symsptr arg) : FunctionX(arg)
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{
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}
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double MbD::Reciprocal::getValue()
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{
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return 1.0 / xx->getValue();
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}
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Symsptr MbD::Reciprocal::differentiateWRTx()
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{
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auto two = sptrConstant(2);
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auto sq = std::make_shared<Power>(xx, two);
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return std::make_shared<Negative>(sq);
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}
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Symsptr MbD::Reciprocal::copyWith(Symsptr arg)
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{
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return std::make_shared<Reciprocal>(arg);
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}
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std::ostream& MbD::Reciprocal::printOn(std::ostream& s) const
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{
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s << "/(" << *xx << ")";
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return s;
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}
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