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.
149 lines
4.7 KiB
C++
149 lines
4.7 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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#include <cmath>
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#include "ScrewConstraintIqcJc.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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#include "DispCompIeqcJecIe.h"
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#include "AngleZIeqcJec.h"
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using namespace MbD;
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MbD::ScrewConstraintIqcJc::ScrewConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : ScrewConstraintIJ(frmi, frmj)
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{
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pGpXI = std::make_shared<FullRow<double>>(3);
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pGpEI = std::make_shared<FullRow<double>>(4);
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ppGpXIpEI = std::make_shared<FullMatrix<double>>(3, 4);
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ppGpEIpEI = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void MbD::ScrewConstraintIqcJc::initzIeJeIe()
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{
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zIeJeIe = std::make_shared<DispCompIeqcJecIe>(frmI, frmJ, 2);
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}
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void MbD::ScrewConstraintIqcJc::initthezIeJe()
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{
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thezIeJe = std::make_shared<AngleZIeqcJec>(frmI, frmJ);
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}
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void MbD::ScrewConstraintIqcJc::addToJointForceI(FColDsptr col)
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{
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col->equalSelfPlusFullVectortimes(pGpXI, lam);
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}
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void MbD::ScrewConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque)
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{
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auto cForceT = pGpXI->times(lam);
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto rIpIeIp = frmIeqc->rpep();
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auto pAOIppEI = frmIeqc->pAOppE();
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auto aBOIp = frmIeqc->aBOp();
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auto fpAOIppEIrIpIeIp = std::make_shared<FullColumn<double>>(4, 0.0);
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for (size_t i = 0; i < 4; i++)
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{
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auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp));
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fpAOIppEIrIpIeIp->atiput(i, dum);
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}
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auto lampGpE = pGpEI->transpose()->times(lam);
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auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp));
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jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5);
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}
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void MbD::ScrewConstraintIqcJc::calc_pGpEI()
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{
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pGpEI = zIeJeIe->pvaluepEI()->times(2.0 * M_PI)->minusFullRow(thezIeJe->pvaluepEI()->times(pitch));
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}
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void MbD::ScrewConstraintIqcJc::calc_pGpXI()
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{
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pGpXI = zIeJeIe->pvaluepXI()->times(2.0 * M_PI);
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}
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void MbD::ScrewConstraintIqcJc::calc_ppGpEIpEI()
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{
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ppGpEIpEI = zIeJeIe->ppvaluepEIpEI()->times(2.0 * M_PI)
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->minusFullMatrix(thezIeJe->ppvaluepEIpEI()->times(pitch));
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}
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void MbD::ScrewConstraintIqcJc::calc_ppGpXIpEI()
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{
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ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * M_PI);
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}
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void MbD::ScrewConstraintIqcJc::calcPostDynCorrectorIteration()
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{
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ScrewConstraintIJ::calcPostDynCorrectorIteration();
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this->calc_pGpXI();
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this->calc_pGpEI();
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this->calc_ppGpXIpEI();
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this->calc_ppGpEIpEI();
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}
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void MbD::ScrewConstraintIqcJc::fillAccICIterError(FColDsptr col)
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{
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col->atiplusFullVectortimes(iqXI, pGpXI, lam);
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto qXdotI = efrmIqc->qXdot();
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auto qEdotI = efrmIqc->qEdot();
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auto sum = pGpXI->timesFullColumn(efrmIqc->qXddot());
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sum += pGpEI->timesFullColumn(efrmIqc->qEddot());
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sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEI->timesFullColumn(qEdotI)));
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sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI));
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col->atiplusNumber(iG, sum);
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}
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void MbD::ScrewConstraintIqcJc::fillPosICError(FColDsptr col)
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{
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ScrewConstraintIJ::fillPosICError(col);
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col->atiplusFullVectortimes(iqXI, pGpXI, lam);
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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}
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void MbD::ScrewConstraintIqcJc::fillPosICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqXI, pGpXI);
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mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose());
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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auto ppGpXIpEIlam = ppGpXIpEI->times(lam);
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mat->atijplusFullMatrix(iqXI, iqEI, ppGpXIpEIlam);
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mat->atijplusTransposeFullMatrix(iqEI, iqXI, ppGpXIpEIlam);
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mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam);
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}
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void MbD::ScrewConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqXI, pGpXI);
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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}
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void MbD::ScrewConstraintIqcJc::fillVelICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqXI, pGpXI);
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mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose());
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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}
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void MbD::ScrewConstraintIqcJc::init_zthez()
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{
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zIeJeIe = CREATE<DispCompIeqcJecIe>::With(frmI, frmJ, 2);
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thezIeJe = CREATE<AngleZIeqcJec>::With(frmI, frmJ);
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}
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void MbD::ScrewConstraintIqcJc::useEquationNumbers()
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{
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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iqXI = frmIeqc->iqX();
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iqEI = frmIeqc->iqE();
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}
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