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.
50 lines
1.5 KiB
Python
50 lines
1.5 KiB
Python
"""Tests for DOF counting."""
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import pytest
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from kindred_solver.dof import count_dof
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from kindred_solver.expr import Const, Var
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from kindred_solver.params import ParamTable
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class TestDOF:
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def test_unconstrained(self):
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"""2 free params, no residuals → DOF = 2."""
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pt = ParamTable()
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pt.add("x", 0.0)
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pt.add("y", 0.0)
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assert count_dof([], pt) == 2
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def test_fully_constrained(self):
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"""1 free param, 1 independent residual → DOF = 0."""
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pt = ParamTable()
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x = pt.add("x", 1.0)
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residuals = [x - Const(3.0)]
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assert count_dof(residuals, pt) == 0
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def test_under_constrained(self):
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"""2 free params, 1 residual → DOF = 1."""
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pt = ParamTable()
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x = pt.add("x", 1.0)
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y = pt.add("y", 1.0)
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residuals = [x + y - Const(5.0)]
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assert count_dof(residuals, pt) == 1
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def test_redundant_constraints(self):
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"""2 free params, 3 residuals (2 independent) → DOF = 0."""
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pt = ParamTable()
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x = pt.add("x", 1.0)
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y = pt.add("y", 1.0)
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residuals = [
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x - Const(3.0),
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y - Const(4.0),
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x + y - Const(7.0), # redundant (sum of first two)
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]
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assert count_dof(residuals, pt) == 0
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def test_no_free_params(self):
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"""All fixed → DOF = 0."""
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pt = ParamTable()
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pt.add("x", 1.0, fixed=True)
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residuals = [Const(0.0)]
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assert count_dof(residuals, pt) == 0
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