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.
196 lines
4.5 KiB
Python
196 lines
4.5 KiB
Python
"""Tests for the expression DAG."""
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import math
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import pytest
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from kindred_solver.expr import (
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ONE,
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ZERO,
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Add,
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Const,
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Cos,
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Div,
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Mul,
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Neg,
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Pow,
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Sin,
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Sqrt,
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Sub,
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Var,
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)
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class TestConst:
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def test_eval(self):
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assert Const(3.0).eval({}) == 3.0
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def test_diff(self):
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assert Const(5.0).diff("x") == ZERO
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def test_eq(self):
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assert Const(1.0) == Const(1.0)
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assert Const(1.0) != Const(2.0)
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def test_vars(self):
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assert Const(1.0).vars() == set()
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class TestVar:
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def test_eval(self):
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assert Var("x").eval({"x": 7.0}) == 7.0
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def test_diff_self(self):
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assert Var("x").diff("x") == ONE
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def test_diff_other(self):
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assert Var("x").diff("y") == ZERO
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def test_vars(self):
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assert Var("x").vars() == {"x"}
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class TestOperators:
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def test_add(self):
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x = Var("x")
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e = x + 3.0
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assert isinstance(e, Add)
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assert e.eval({"x": 2.0}) == 5.0
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def test_radd(self):
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x = Var("x")
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e = 3.0 + x
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assert e.eval({"x": 2.0}) == 5.0
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def test_sub(self):
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x = Var("x")
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e = x - 1.0
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assert e.eval({"x": 5.0}) == 4.0
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def test_mul(self):
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x = Var("x")
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e = x * 2.0
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assert e.eval({"x": 3.0}) == 6.0
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def test_div(self):
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x = Var("x")
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e = x / 2.0
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assert e.eval({"x": 6.0}) == 3.0
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def test_neg(self):
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x = Var("x")
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e = -x
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assert e.eval({"x": 3.0}) == -3.0
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def test_pow(self):
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x = Var("x")
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e = x**2
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assert e.eval({"x": 3.0}) == 9.0
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class TestDiff:
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def test_add(self):
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x = Var("x")
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e = x + Const(5.0)
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d = e.diff("x").simplify()
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assert d.eval({}) == 1.0
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def test_mul_product_rule(self):
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x = Var("x")
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e = x * x # x^2
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d = e.diff("x").simplify()
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# d/dx(x*x) = x + x = 2x
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assert d.eval({"x": 3.0}) == 6.0
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def test_pow_const_exp(self):
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x = Var("x")
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e = Pow(x, Const(3.0)) # x^3
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d = e.diff("x").simplify()
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# d/dx(x^3) = 3x^2
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assert abs(d.eval({"x": 2.0}) - 12.0) < 1e-10
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def test_sin(self):
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x = Var("x")
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e = Sin(x)
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d = e.diff("x").simplify()
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# d/dx sin(x) = cos(x)
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assert abs(d.eval({"x": 0.0}) - 1.0) < 1e-10
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def test_cos(self):
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x = Var("x")
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e = Cos(x)
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d = e.diff("x").simplify()
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# d/dx cos(x) = -sin(x)
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assert abs(d.eval({"x": 0.0}) - 0.0) < 1e-10
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def test_div_quotient_rule(self):
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x = Var("x")
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e = Div(x, x + Const(1.0)) # x / (x+1)
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d = e.diff("x")
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# d/dx x/(x+1) = 1/(x+1)^2
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val = d.eval({"x": 1.0})
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assert abs(val - 0.25) < 1e-10
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def test_sqrt(self):
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x = Var("x")
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e = Sqrt(x)
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d = e.diff("x")
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# d/dx sqrt(x) = 1/(2*sqrt(x))
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val = d.eval({"x": 4.0})
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assert abs(val - 0.25) < 1e-10
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class TestSimplify:
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def test_add_zero(self):
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x = Var("x")
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e = Add(ZERO, x).simplify()
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assert isinstance(e, Var) and e.name == "x"
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def test_mul_one(self):
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x = Var("x")
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e = Mul(ONE, x).simplify()
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assert isinstance(e, Var) and e.name == "x"
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def test_mul_zero(self):
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x = Var("x")
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e = Mul(ZERO, x).simplify()
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assert e == ZERO
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def test_const_fold(self):
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e = Add(Const(2.0), Const(3.0)).simplify()
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assert isinstance(e, Const) and e.value == 5.0
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def test_neg_neg(self):
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x = Var("x")
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e = Neg(Neg(x)).simplify()
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assert isinstance(e, Var) and e.name == "x"
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def test_pow_zero(self):
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x = Var("x")
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e = Pow(x, ZERO).simplify()
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assert e == ONE
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def test_pow_one(self):
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x = Var("x")
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e = Pow(x, ONE).simplify()
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assert isinstance(e, Var) and e.name == "x"
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def test_sub_zero(self):
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x = Var("x")
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e = Sub(x, ZERO).simplify()
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assert isinstance(e, Var) and e.name == "x"
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class TestComplex:
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def test_polynomial(self):
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"""Test a quadratic: 3x^2 + 2x + 1, derivative = 6x + 2."""
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x = Var("x")
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e = Const(3.0) * x * x + Const(2.0) * x + Const(1.0)
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assert abs(e.eval({"x": 2.0}) - 17.0) < 1e-10
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d = e.diff("x").simplify()
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assert abs(d.eval({"x": 2.0}) - 14.0) < 1e-10
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def test_vars_set(self):
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x, y = Var("x"), Var("y")
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e = x * y + Sin(x)
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assert e.vars() == {"x", "y"}
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