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.
37 lines
1.2 KiB
C++
37 lines
1.2 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <string>
|
|
|
|
#include "Symbolic.h"
|
|
namespace MbD {
|
|
class Variable : public Symbolic
|
|
{
|
|
//name value
|
|
public:
|
|
Variable();
|
|
Variable(const std::string& str);
|
|
Variable(double val);
|
|
void initialize() override;
|
|
void setName(const std::string& str);
|
|
const std::string& getName() const;
|
|
double getValue() override;
|
|
std::ostream& printOn(std::ostream& s) const override;
|
|
void setValue(double val) override;
|
|
Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
|
|
Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
|
|
bool isVariable() override;
|
|
|
|
std::string name;
|
|
double value;
|
|
};
|
|
}
|
|
|