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.
70 lines
1.9 KiB
C++
70 lines
1.9 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 "VelSolver.h"
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#include "MatrixSolver.h"
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#include "SystemSolver.h"
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#include "CREATE.h"
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#include "GESpMatParPvPrecise.h"
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#include "SingularMatrixError.h"
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#include "GESpMatParPvMarko.h"
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#include "GESpMatParPvMarkoFast.h"
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using namespace MbD;
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void VelSolver::basicSolveEquations()
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{
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x = matrixSolver->solvewithsaveOriginal(jacobian, errorVector, true);
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}
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void VelSolver::handleSingularMatrix()
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{
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auto& r = *matrixSolver;
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std::string str = typeid(r).name();
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if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
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matrixSolver = CREATE<GESpMatParPvPrecise>::With();
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this->solveEquations();
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}
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else {
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str = typeid(r).name();
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if (str.find("GESpMatParPvPrecise") != std::string::npos) {
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this->logSingularMatrixMessage();
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matrixSolver->throwSingularMatrixError("VelSolver");
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}
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else {
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throw SimulationStoppingError("To be implemented.");
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}
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}
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}
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void VelSolver::logSingularMatrixMessage()
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{
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std::string str = "MbD: Velocity solver has encountered a singular matrix.";
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system->logString(str);
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}
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std::shared_ptr<MatrixSolver> VelSolver::matrixSolverClassNew()
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{
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return CREATE<GESpMatParPvPrecise>::With();
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}
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void VelSolver::solveEquations()
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{
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try {
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this->basicSolveEquations();
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}
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catch (const SingularMatrixError& ex) {
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this->handleSingularMatrix();
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}
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}
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void VelSolver::setSystem(Solver* sys)
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{
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system = static_cast<SystemSolver*>(sys);
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}
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