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.
117 lines
3.0 KiB
C++
117 lines
3.0 KiB
C++
#include "ASMTLimit.h"
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#include "ASMTAssembly.h"
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#include "ASMTJoint.h"
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#include "SymbolicParser.h"
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#include "BasicUserFunction.h"
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#include "Constant.h"
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using namespace MbD;
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void MbD::ASMTLimit::initMarkers()
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{
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if (motionJoint == "") {
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assert(markerI != "");
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assert(markerJ != "");
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}
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else {
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auto jt = root()->jointAt(motionJoint);
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markerI = jt->markerI;
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markerJ = jt->markerJ;
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}
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}
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void MbD::ASMTLimit::storeOnLevel(std::ofstream& os, size_t level)
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{
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ASMTItemIJ::storeOnLevel(os, level);
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storeOnLevelString(os, level + 1, "MotionJoint");
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storeOnLevelString(os, level + 2, motionJoint);
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storeOnLevelString(os, level + 1, "Limit");
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storeOnLevelString(os, level + 2, limit);
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storeOnLevelString(os, level + 1, "Type");
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storeOnLevelString(os, level + 2, type);
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storeOnLevelString(os, level + 1, "Tol");
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storeOnLevelString(os, level + 2, tol);
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}
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void MbD::ASMTLimit::readMotionJoint(std::vector<std::string>& lines)
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{
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assert(readStringOffTop(lines) == "MotionJoint");
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motionJoint = readStringOffTop(lines);
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}
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void MbD::ASMTLimit::readLimit(std::vector<std::string>& lines)
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{
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assert(readStringOffTop(lines) == "Limit");
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limit = readStringOffTop(lines);
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}
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void MbD::ASMTLimit::readType(std::vector<std::string>& lines)
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{
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assert(readStringOffTop(lines) == "Type");
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type = readStringOffTop(lines);
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}
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void MbD::ASMTLimit::readTol(std::vector<std::string>& lines)
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{
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assert(readStringOffTop(lines) == "Tol");
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tol = readStringOffTop(lines);
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}
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void MbD::ASMTLimit::parseASMT(std::vector<std::string>& lines)
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{
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ASMTConstraintSet::parseASMT(lines);
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readMotionJoint(lines);
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readLimit(lines);
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readType(lines);
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readTol(lines);
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}
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void MbD::ASMTLimit::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
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{
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ASMTConstraintSet::createMbD(mbdSys, mbdUnits);
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auto limitIJ = std::static_pointer_cast<LimitIJ>(mbdObject);
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mbdSys->addLimit(limitIJ);
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//
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auto parser = std::make_shared<SymbolicParser>();
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parser->owner = this;
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std::shared_ptr<BasicUserFunction> userFunc;
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//
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userFunc = std::make_shared<BasicUserFunction>(limit, 1.0);
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parser->parseUserFunction(userFunc);
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auto& geolimit = parser->stack->top();
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geolimit = Symbolic::times(geolimit, sptrConstant(1.0 / mbdUnits->angle));
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geolimit->createMbD(mbdSys, mbdUnits);
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geolimit = geolimit->simplified(geolimit);
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limitIJ->limit = geolimit->getValue();
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//
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limitIJ->type = type;
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//
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userFunc = std::make_shared<BasicUserFunction>(tol, 1.0);
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parser->parseUserFunction(userFunc);
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auto& geotol = parser->stack->top();
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geotol = Symbolic::times(geotol, sptrConstant(1.0 / mbdUnits->angle));
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geotol->createMbD(mbdSys, mbdUnits);
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geotol = geotol->simplified(geotol);
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limitIJ->tol = geotol->getValue();
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}
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void MbD::ASMTLimit::setmotionJoint(const std::string& _motionJoint)
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{
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motionJoint = _motionJoint;
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}
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void MbD::ASMTLimit::settype(const std::string& _type)
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{
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type = _type;
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}
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void MbD::ASMTLimit::setlimit(const std::string& _limit)
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{
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limit = _limit;
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}
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void MbD::ASMTLimit::settol(const std::string& _tol)
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{
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tol = _tol;
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}
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