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.
47 lines
1.7 KiB
C++
47 lines
1.7 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 "DifferentiatedGeneralSpline.h"
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#include "GeneralSpline.h"
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using namespace MbD;
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MbD::DifferentiatedGeneralSpline::DifferentiatedGeneralSpline(Symsptr arg, Symsptr spline, size_t derivOrder) : AnyGeneralSpline(arg), generalSpline(spline), derivativeOrder(derivOrder)
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{
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}
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double MbD::DifferentiatedGeneralSpline::getValue()
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{
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return std::static_pointer_cast<GeneralSpline>(generalSpline)->derivativeAt(derivativeOrder, xx->getValue());
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}
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Symsptr MbD::DifferentiatedGeneralSpline::differentiateWRTx()
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{
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auto arg = std::static_pointer_cast<GeneralSpline>(generalSpline)->xx;
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auto deriv = std::make_shared<DifferentiatedGeneralSpline>(arg, generalSpline, derivativeOrder + 1);
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return deriv;
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}
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Symsptr MbD::DifferentiatedGeneralSpline::clonesptr()
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{
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return std::make_shared<DifferentiatedGeneralSpline>(*this);
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}
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std::ostream& MbD::DifferentiatedGeneralSpline::printOn(std::ostream& s) const
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{
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s << "deriv(" << *generalSpline << ", " << derivativeOrder << ")";
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return s;
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}
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Symsptr MbD::DifferentiatedGeneralSpline::copyWith(Symsptr arg)
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{
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auto clone = clonesptr();
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std::static_pointer_cast<FunctionX>(clone)->setX(arg);
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return clone;
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}
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