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.
46 lines
1.3 KiB
C++
46 lines
1.3 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 "ExpressionX.h"
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#include "Constant.h"
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using namespace MbD;
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MbD::ExpressionX::ExpressionX(Symsptr arg) : FunctionX(arg)
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{
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}
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void MbD::ExpressionX::xexpression(Symsptr arg, Symsptr func)
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{
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//"
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//Future modification :
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//Check that func is a function of arg.
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//No need for self to be dependent of arg since self is dependent of func which is indirectly
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//dependent of of arg.
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//"
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xx = arg;
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expression = func;
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}
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Symsptr MbD::ExpressionX::differentiateWRTx()
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{
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return expression->differentiateWRT(xx);
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}
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Symsptr MbD::ExpressionX::differentiateWRT(Symsptr var)
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{
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if (this == var.get()) return sptrConstant(1.0);
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return expression->differentiateWRT(var);
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}
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double MbD::ExpressionX::getValue()
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{
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return expression->getValue();
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}
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