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.
87 lines
3.5 KiB
C++
87 lines
3.5 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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#pragma once
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#include "CREATE.h"
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namespace MbD {
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class ASMTAssembly;
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class Units;
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class ASMTSpatialContainer;
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class ASMTPart;
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class ASMTItem
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{
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//
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public:
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ASMTItem() {}
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virtual ~ASMTItem() {}
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virtual ASMTAssembly* root();
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virtual ASMTSpatialContainer* partOrAssembly();
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virtual ASMTPart* part();
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virtual void initialize();
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void noop();
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virtual std::string classname();
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void setName(const std::string& str);
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virtual void parseASMT(std::vector<std::string>& lines);
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std::string popOffTop(std::vector<std::string>& lines);
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std::string readStringOffTop(std::vector<std::string>& lines);
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FRowDsptr readRowOfDoubles(const std::string& line);
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FRowDsptr readRowOfDoublesOffTop(std::vector<std::string>& lines);
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FColDsptr readColumnOfDoubles(const std::string& line);
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FColDsptr readColumnOfDoublesOffTop(std::vector<std::string>& lines);
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double readDouble(const std::string& line);
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int readInt(const std::string& line);
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size_t readSize_t(const std::string& line);
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bool readBool(const std::string& line);
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std::string readString(const std::string& line);
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void readName(std::vector<std::string>& lines);
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virtual std::string fullName(const std::string& partialName);
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void readDoublesInto(std::string str, std::string label, FRowDsptr& row);
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virtual void deleteMbD();
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virtual void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
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virtual void updateForFrame(size_t index);
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virtual void updateFromInitiallyAssembledState();
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virtual void updateFromInputState();
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virtual void updateFromMbD();
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virtual void compareResults(AnalysisType type);
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virtual void outputResults(AnalysisType type);
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std::shared_ptr<Units> mbdUnits();
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std::shared_ptr<Constant> sptrConstant(double value);
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virtual void storeOnLevel(std::ofstream& os, size_t level);
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virtual void storeOnLevelTabs(std::ofstream& os, size_t level);
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virtual void storeOnLevelString(std::ofstream& os, size_t level, std::string str);
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virtual void storeOnLevelDouble(std::ofstream& os, size_t level, double value);
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virtual void storeOnLevelInt(std::ofstream& os, size_t level, int i);
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virtual void storeOnLevelSize_t(std::ofstream& os, size_t level, size_t i);
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virtual void storeOnLevelBool(std::ofstream& os, size_t level, bool value);
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//template<typename T>
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//void storeOnLevelArray(std::ofstream& os, size_t level, std::vector<T> array);
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virtual void storeOnLevelArray(std::ofstream& os, size_t level, std::vector<double> array);
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virtual void storeOnLevelName(std::ofstream& os, size_t level);
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virtual void storeOnTimeSeries(std::ofstream& os);
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void logString(const std::string& str);
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std::string name;
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ASMTItem* owner = nullptr;
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std::shared_ptr<Item> mbdObject;
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};
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//template<typename T>
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//inline void ASMTItem::storeOnLevelArray(std::ofstream& os, size_t level, std::vector<T> array)
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//{
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// storeOnLevelTabs(os, level);
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// for (size_t i = 0; i < array.size(); i++)
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// {
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// os << array[i] << '\t';
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// }
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// //os << std::endl;
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//}
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}
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