/usr/include/sofa/component/linearsolver/PCGLinearSolver.h is in libsofa1-dev 1.0~beta4-9.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_LINEARSOLVER_PCGLinearSolver_H
#define SOFA_COMPONENT_LINEARSOLVER_PCGLinearSolver_H
#include <sofa/core/componentmodel/behavior/LinearSolver.h>
#include <sofa/component/linearsolver/MatrixLinearSolver.h>
#include <sofa/simulation/common/MechanicalVisitor.h>
#include <sofa/helper/map.h>
//#define DISPLAY_TIME
#include <math.h>
namespace sofa
{
namespace component
{
namespace linearsolver
{
#ifdef DISPLAY_TIME
#include <sofa/helper/system/thread/CTime.h>
using sofa::helper::system::thread::CTime;
#endif
/// Linear system solver using the conjugate gradient iterative algorithm
template<class TMatrix, class TVector>
class PCGLinearSolver : public sofa::component::linearsolver::MatrixLinearSolver<TMatrix,TVector>, public virtual sofa::core::objectmodel::BaseObject
{
public:
typedef TMatrix Matrix;
typedef TVector Vector;
typedef sofa::component::linearsolver::MatrixLinearSolver<TMatrix,TVector> Inherit;
typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId VecId;
Data<unsigned> f_maxIter;
Data<double> f_tolerance;
Data<double> f_smallDenominatorThreshold;
Data<bool> f_verbose;
Data<int> f_refresh;
Data<bool> use_precond;
Data<std::map < std::string, sofa::helper::vector<double> > > f_graph;
std::vector<sofa::core::componentmodel::behavior::LinearSolver*> preconditioners;
PCGLinearSolver()
: f_maxIter( initData(&f_maxIter,(unsigned)25,"iterations","maximum number of iterations of the Conjugate Gradient solution") )
, f_tolerance( initData(&f_tolerance,1e-5,"tolerance","desired precision of the Conjugate Gradient Solution (ratio of current residual norm over initial residual norm)") )
, f_smallDenominatorThreshold( initData(&f_smallDenominatorThreshold,1e-5,"threshold","minimum value of the denominator in the conjugate Gradient solution") )
, f_verbose( initData(&f_verbose,false,"verbose","Dump system state at each iteration") )
, f_refresh( initData(&f_refresh,"refresh","Refresh iterations") )
, use_precond( initData(&use_precond,true,"precond","Use preconditioners") )
, f_graph( initData(&f_graph,"graph","Graph of residuals at each iteration") )
{
f_graph.setWidget("graph");
f_graph.setReadOnly(true);
iteration = 0;
no_precond = false;
#ifdef DISPLAY_TIME
timeStamp = 1.0 / (double)CTime::getRefTicksPerSec();
#endif
}
void solve (Matrix& M, Vector& x, Vector& b);
void init();
void setSystemMBKMatrix(double mFact=0.0, double bFact=0.0, double kFact=0.0);
//void setSystemRHVector(VecId v);
//void setSystemLHVector(VecId v);
private :
int iteration;
bool no_precond;
#ifdef DISPLAY_TIME
double time1;
double time2;
double time3;
double time4;
double timeStamp;
#endif
protected:
/// This method is separated from the rest to be able to use custom/optimized versions depending on the types of vectors.
/// It computes: p = p*beta + r
inline void cgstep_beta(Vector& p, Vector& r, double beta);
/// This method is separated from the rest to be able to use custom/optimized versions depending on the types of vectors.
/// It computes: x += p*alpha, r -= q*alpha
inline void cgstep_alpha(Vector& x, Vector& r, Vector& p, Vector& q, double alpha);
};
template<class TMatrix, class TVector>
inline void PCGLinearSolver<TMatrix,TVector>::cgstep_beta(Vector& p, Vector& r, double beta)
{
p *= beta;
p += r; //z;
}
template<class TMatrix, class TVector>
inline void PCGLinearSolver<TMatrix,TVector>::cgstep_alpha(Vector& x, Vector& r, Vector& p, Vector& q, double alpha)
{
x.peq(p,alpha); // x = x + alpha p
r.peq(q,-alpha); // r = r - alpha q
}
template<>
inline void PCGLinearSolver<component::linearsolver::GraphScatteredMatrix,component::linearsolver::GraphScatteredVector>::cgstep_beta(Vector& p, Vector& r, double beta)
{
this->v_op(p,r,p,beta); // p = p*beta + r
}
template<>
inline void PCGLinearSolver<component::linearsolver::GraphScatteredMatrix,component::linearsolver::GraphScatteredVector>::cgstep_alpha(Vector& x, Vector& r, Vector& p, Vector& q, double alpha)
{
#if 1 //SOFA_NO_VMULTIOP // unoptimized version
x.peq(p,alpha); // x = x + alpha p
r.peq(q,-alpha); // r = r - alpha q
#else // single-operation optimization
typedef core::componentmodel::behavior::BaseMechanicalState::VMultiOp VMultiOp;
VMultiOp ops;
ops.resize(2);
ops[0].first = (VecId)x;
ops[0].second.push_back(std::make_pair((VecId)x,1.0));
ops[0].second.push_back(std::make_pair((VecId)p,alpha));
ops[1].first = (VecId)r;
ops[1].second.push_back(std::make_pair((VecId)r,1.0));
ops[1].second.push_back(std::make_pair((VecId)q,-alpha));
simulation::tree::MechanicalVMultiOpVisitor vmop(ops);
vmop.execute(this->getContext());
#endif
}
} // namespace linearsolver
} // namespace component
} // namespace sofa
#endif
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