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.
59 lines
1.7 KiB
C++
59 lines
1.7 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 "Array.h"
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namespace MbD {
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template<typename T>
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class RowTypeMatrix : public Array<T>
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{
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public:
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RowTypeMatrix() {}
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RowTypeMatrix(size_t m) : Array<T>(m) {}
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RowTypeMatrix(std::initializer_list<T> list) : Array<T>{ list } {}
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void copyFrom(std::shared_ptr<RowTypeMatrix<T>> x);
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virtual void zeroSelf() override = 0;
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//double maxMagnitude() override;
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size_t numberOfElements() override;
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size_t nrow() {
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return this->size();
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}
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size_t ncol() {
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return this->at(0)->numberOfElements();
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}
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};
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template<typename T>
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inline void RowTypeMatrix<T>::copyFrom(std::shared_ptr<RowTypeMatrix<T>> x)
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{
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for (size_t i = 0; i < x->size(); i++) {
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this->at(i)->copyFrom(x->at(i));
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}
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}
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//template<typename T>
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//inline double RowTypeMatrix<T>::maxMagnitude()
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//{
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// double max = 0.0;
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// for (size_t i = 0; i < this->size(); i++)
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// {
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// double element = this->at(i)->maxMagnitude();
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// if (max < element) max = element;
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// }
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// return max;
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//}
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template<typename T>
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inline size_t RowTypeMatrix<T>::numberOfElements()
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{
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return this->nrow() * this->ncol();
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}
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}
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