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.
62 lines
1.9 KiB
C++
62 lines
1.9 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
#include <fstream>
|
|
|
|
#include "ASMTJoint.h"
|
|
#include "Joint.h"
|
|
|
|
using namespace MbD;
|
|
|
|
std::shared_ptr<ASMTJoint> MbD::ASMTJoint::With()
|
|
{
|
|
auto asmt = std::make_shared<ASMTJoint>();
|
|
asmt->initialize();
|
|
return asmt;
|
|
}
|
|
|
|
void MbD::ASMTJoint::readJointSeries(std::vector<std::string>& lines)
|
|
{
|
|
std::string str = lines[0];
|
|
std::string substr = "JointSeries";
|
|
auto pos = str.find(substr);
|
|
assert(pos != std::string::npos);
|
|
str.erase(0, pos + substr.length());
|
|
auto seriesName = readString(str);
|
|
assert(fullName("") == seriesName);
|
|
lines.erase(lines.begin());
|
|
readFXonIs(lines);
|
|
readFYonIs(lines);
|
|
readFZonIs(lines);
|
|
readTXonIs(lines);
|
|
readTYonIs(lines);
|
|
readTZonIs(lines);
|
|
}
|
|
|
|
void MbD::ASMTJoint::storeOnLevel(std::ofstream& os, size_t level)
|
|
{
|
|
auto jointType = classname();
|
|
jointType = jointType.substr(4, jointType.size() - 4); //Remove ASMT in name
|
|
storeOnLevelString(os, level, jointType);
|
|
ASMTItemIJ::storeOnLevel(os, level);
|
|
}
|
|
|
|
void MbD::ASMTJoint::storeOnTimeSeries(std::ofstream& os)
|
|
{
|
|
std::string label = typeid(*this).name();
|
|
label = label.substr(15, label.size() - 15);
|
|
os << label << "Series\t" << fullName("") << std::endl;
|
|
ASMTItemIJ::storeOnTimeSeries(os);
|
|
}
|
|
|
|
void MbD::ASMTJoint::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
|
|
{
|
|
ASMTConstraintSet::createMbD(mbdSys, mbdUnits);
|
|
auto mbdJt = std::static_pointer_cast<Joint>(mbdObject);
|
|
mbdSys->addJoint(mbdJt);
|
|
}
|