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.
70 lines
1.3 KiB
C++
70 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 "Variable.h"
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using namespace MbD;
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Variable::Variable()
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{
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value = 0.0;
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}
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Variable::Variable(const std::string& str) : name(str)
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{
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value = 0.0;
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}
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Variable::Variable(double val) : value(val)
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{
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}
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void Variable::initialize()
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{
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}
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void Variable::setName(const std::string& str)
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{
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name = str;
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}
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const std::string& Variable::getName() const
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{
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return name;
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}
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double Variable::getValue()
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{
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return value;
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}
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std::ostream& Variable::printOn(std::ostream& s) const
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{
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return s << this->name;
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}
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void Variable::setValue(double val)
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{
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value = val;
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}
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Symsptr MbD::Variable::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>>)
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{
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return sptr;
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}
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Symsptr MbD::Variable::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>>)
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{
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return sptr;
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}
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bool MbD::Variable::isVariable()
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{
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return true;
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}
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