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.
33 lines
1.1 KiB
C++
33 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 <fstream>
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#include "ASMTPointInPlaneJoint.h"
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#include "PointInPlaneJoint.h"
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using namespace MbD;
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std::shared_ptr<ASMTPointInPlaneJoint> MbD::ASMTPointInPlaneJoint::With()
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{
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auto asmt = std::make_shared<ASMTPointInPlaneJoint>();
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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::ASMTPointInPlaneJoint::mbdClassNew()
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{
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return CREATE<PointInPlaneJoint>::With();
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}
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void MbD::ASMTPointInPlaneJoint::storeOnTimeSeries(std::ofstream& os)
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{
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os << "PointInPlaneJointSeries\t" << fullName("") << std::endl;
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ASMTItemIJ::storeOnTimeSeries(os);
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}
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