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.
25 lines
860 B
C++
25 lines
860 B
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "DispCompIecJecKec.h"
|
|
|
|
using namespace MbD;
|
|
|
|
DispCompIecJecKec::DispCompIecJecKec()
|
|
{
|
|
}
|
|
|
|
DispCompIecJecKec::DispCompIecJecKec(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, size_t axisk): KinematicIeJe(frmi, frmj), efrmK(frmk), axisK(axisk)
|
|
{
|
|
}
|
|
|
|
double DispCompIecJecKec::value()
|
|
{
|
|
return riIeJeKe;
|
|
}
|