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.
110 lines
2.0 KiB
C++
110 lines
2.0 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 <assert.h>
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#include <memory>
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#include "EndFramec.h"
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#include "MarkerFrame.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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using namespace MbD;
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EndFramec::EndFramec() {
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}
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EndFramec::EndFramec(const std::string& str) : CartesianFrame(str) {
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}
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FMatDsptr MbD::EndFramec::aAeO()
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{
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return aAOe->transpose();
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}
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System* EndFramec::root()
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{
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return markerFrame->root();
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}
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void EndFramec::initialize()
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{
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}
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void EndFramec::setMarkerFrame(MarkerFrame* markerFrm)
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{
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markerFrame = markerFrm;
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}
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MarkerFrame* EndFramec::getMarkerFrame()
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{
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return markerFrame;
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}
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void EndFramec::initializeLocally()
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{
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}
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void EndFramec::initEndFrameqct()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void MbD::EndFramec::initEndFrameqct2()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void EndFramec::calcPostDynCorrectorIteration()
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{
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rOeO = markerFrame->rOmO;
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aAOe = markerFrame->aAOm;
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}
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FColDsptr EndFramec::aAjOe(size_t j)
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{
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return aAOe->column(j);
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}
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double EndFramec::riOeO(size_t i)
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{
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return rOeO->at(i);
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}
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FColDsptr EndFramec::rmeO()
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{
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return rOeO->minusFullColumn(markerFrame->rOmO);
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}
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FColDsptr EndFramec::rpep()
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{
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return FColDsptr();
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}
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FColFMatDsptr EndFramec::pAOppE()
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{
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return FColFMatDsptr();
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}
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FMatDsptr EndFramec::aBOp()
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{
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return FMatDsptr();
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}
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std::shared_ptr<EndFrameqc> MbD::EndFramec::newCopyEndFrameqc()
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{
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auto frmIeqc = CREATE<EndFrameqc>::With();
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markerFrame->addEndFrame(frmIeqc);
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return frmIeqc;
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}
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bool MbD::EndFramec::isEndFrameqc()
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{
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return false;
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}
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