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Integrate Refactor solver sources and dual MSVC CMake builds

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KOKO\Mimi
2026-10-18 02:10:51 +09:00
parent 7ee32e5837
commit 12d51480de
218 changed files with 17842 additions and 9689 deletions
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include/fesa/elements/finite_rotation.h
+6 -4
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@@ -33,11 +33,13 @@ Matrix ExpSkew(const Vector3& phi);
/// @pre phi is finite and lies inside the approved principal chart.
Matrix LeftJacobianSO3(const Vector3& phi);
/// @brief Computes the inverse transpose of the SO(3) left Jacobian.
/// @param phi Fixed-global rotation coordinate in radians.
/// @return The 3-by-3 inverse-transpose left Jacobian.
/// @brief Solves J(phi)^T * moment = generalized for a spatial moment.
/// @param phi Fixed-global principal-chart rotation coordinate in radians.
/// @param generalized Work-conjugate moment in fixed-global chart coordinates.
/// @return A finite spatial moment in the same force-length units, or failure.
/// @pre phi is finite and lies inside the approved principal chart.
Matrix InverseTransposeLeftJacobianSO3(const Vector3& phi);
/// @note Inputs remain unchanged; no inverse Jacobian is constructed.
Result<Vector3> SpatialMomentSO3(const Vector3& phi, const Vector3& generalized);
/// @brief Builds a checked finite-rotation state from its reference frame.
/// @param phi Fixed-global principal-chart rotation coordinate in radians.