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.
78 lines
2.3 KiB
C++
78 lines
2.3 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 <fstream>
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#include "ASMTGearJoint.h"
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#include "GearJoint.h"
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#include "SimulationStoppingError.h"
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using namespace MbD;
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std::shared_ptr<ASMTGearJoint> MbD::ASMTGearJoint::With()
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{
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auto asmt = std::make_shared<ASMTGearJoint>();
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asmt->initialize();
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return asmt;
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}
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std::shared_ptr<ItemIJ> MbD::ASMTGearJoint::mbdClassNew()
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{
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return CREATE<GearJoint>::With();
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}
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void MbD::ASMTGearJoint::parseASMT(std::vector<std::string>& lines)
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{
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ASMTJoint::parseASMT(lines);
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readRadiusI(lines);
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readRadiusJ(lines);
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}
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void MbD::ASMTGearJoint::readRadiusI(std::vector<std::string>& lines)
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{
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if (lines[0].find("radiusI") == std::string::npos) {
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radiusI = 0.0;
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}
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else {
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lines.erase(lines.begin());
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radiusI = readDouble(lines[0]);
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lines.erase(lines.begin());
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}
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}
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void MbD::ASMTGearJoint::readRadiusJ(std::vector<std::string>& lines)
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{
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if (lines[0].find("radiusJ") == std::string::npos) {
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radiusJ = 0.0;
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}
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else {
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lines.erase(lines.begin());
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radiusJ = readDouble(lines[0]);
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lines.erase(lines.begin());
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}
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}
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void MbD::ASMTGearJoint::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
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{
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if (radiusI == 0.0 || radiusJ == 0.0) throw SimulationStoppingError("Gear radius is zero.");
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ASMTJoint::createMbD(mbdSys, mbdUnits);
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auto gearJoint = std::static_pointer_cast<GearJoint>(mbdObject);
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gearJoint->radiusI = radiusI;
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gearJoint->radiusJ = radiusJ;
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}
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void MbD::ASMTGearJoint::storeOnLevel(std::ofstream& os, size_t level)
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{
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ASMTJoint::storeOnLevel(os, level);
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storeOnLevelString(os, level + 1, "radiusI");
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storeOnLevelDouble(os, level + 2, radiusI);
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storeOnLevelString(os, level + 1, "radiusJ");
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storeOnLevelDouble(os, level + 2, radiusJ);
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//storeOnLevelString(os, level + 1, "constant");
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//storeOnLevelDouble(os, level + 2, aConstant);
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}
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