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.
54 lines
1.7 KiB
C++
54 lines
1.7 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 "ASMTRefItem.h"
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#include "CREATE.h"
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#include <algorithm>
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using namespace MbD;
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void MbD::ASMTRefItem::addMarker(std::shared_ptr<ASMTMarker> marker)
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{
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markers->push_back(marker);
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marker->owner = this;
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}
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void MbD::ASMTRefItem::readMarkers(std::vector<std::string>& lines)
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{
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assert(lines[0].find("Markers") != std::string::npos);
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lines.erase(lines.begin());
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markers->clear();
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auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) {
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return s.find("RefPoint") != std::string::npos;
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});
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std::vector<std::string> markersLines(lines.begin(), it);
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while (!markersLines.empty()) {
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readMarker(markersLines);
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}
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lines.erase(lines.begin(), it);
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}
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void MbD::ASMTRefItem::readMarker(std::vector<std::string>& lines)
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{
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assert(lines[0].find("Marker") != std::string::npos);
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lines.erase(lines.begin());
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auto marker = CREATE<ASMTMarker>::With();
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marker->parseASMT(lines);
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markers->push_back(marker);
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marker->owner = this;
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}
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void MbD::ASMTRefItem::storeOnLevel(std::ofstream& os, size_t level)
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{
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storeOnLevelString(os, level, "RefPoints");
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ASMTSpatialItem::storeOnLevel(os, level+1);
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for (auto& marker : *markers) {
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marker->storeOnLevel(os, level);
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}
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}
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