/usr/include/SurgSim/Math/LinearSparseSolveAndInverse.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_LINEARSPARSESOLVEANDINVERSE_H
#define SURGSIM_MATH_LINEARSPARSESOLVEANDINVERSE_H
#if defined(_MSC_VER)
#pragma warning(push)
#pragma warning(disable:4244)
#endif
#include <Eigen/SparseCore>
#include <unordered_map>
#include <boost/assign/list_of.hpp> // for 'map_list_of()'
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/SparseMatrix.h"
#include "SurgSim/Math/Vector.h"
namespace SurgSim
{
namespace Math
{
/// The linear numerical integration scheme supported
/// Each Linear Solver should have its own entry in this enum
enum LinearSolver
{
LINEARSOLVER_LU = 0,
LINEARSOLVER_CONJUGATEGRADIENT,
MAX_LINEARSOLVER
};
const std::unordered_map<LinearSolver, std::string, std::hash<int>> LinearSolverNames =
boost::assign::map_list_of
(LINEARSOLVER_LU, "LINEARSOLVER_LU")
(LINEARSOLVER_CONJUGATEGRADIENT, "LINEARSOLVER_CONJUGATEGRADIENT");
/// LinearSparseSolveAndInverse aims at performing an efficient linear system resolution and
/// calculating its inverse matrix at the same time.
/// This class is very useful in the OdeSolver resolution to improve performance.
/// \sa SurgSim::Math::OdeSolver
class LinearSparseSolveAndInverse
{
public:
virtual ~LinearSparseSolveAndInverse() {}
/// Set the linear solver matrix
/// \param matrix the new matrix to solve/inverse for
virtual void setMatrix(const SparseMatrix& matrix) = 0;
/// Solve the linear system (matrix.x=b) using the matrix provided by the latest setMatrix call
/// for all columns of the rhs matrix b.
/// \param b The rhs matrix
/// \return The solution matrix
virtual Matrix solve(const Matrix& b) const = 0;
/// \return The linear system's inverse matrix, i.e. the inverse of the matrix provided on the last setMatrix call
virtual Matrix getInverse() const;
protected:
/// A copy of the system matrix for use when an inverse is necessary.
SparseMatrix m_matrix;
};
/// Derivation for sparse LU solver
class LinearSparseSolveAndInverseLU : public LinearSparseSolveAndInverse
{
public:
void setMatrix(const SparseMatrix& matrix) override;
Matrix solve(const Matrix& b) const override;
private:
Eigen::SparseLU<SparseMatrix> m_solver;
};
/// Derivation for sparse CG solver
class LinearSparseSolveAndInverseCG : public LinearSparseSolveAndInverse
{
public:
/// Set the conjugate gradient convergence tolerance
/// \param tolerance the new convergence tolerance
void setTolerance(double tolerance);
/// Get the conjugate gradient convergence tolerance
/// \return the convergence tolerance
double getTolerance();
/// Set the maximum number of iterations for conjugate gradient
/// \param iterations the new maximum number of iterations
void setMaxIterations(SparseMatrix::Index iterations);
/// Get the conjugate gradient maximum iterations
/// \return the maximum number of iterations allowed
SparseMatrix::Index getMaxIterations();
void setMatrix(const SparseMatrix& matrix) override;
Matrix solve(const Matrix& b) const override;
private:
Eigen::ConjugateGradient<SparseMatrix> m_solver;
};
}; // namespace Math
}; // namespace SurgSim
#if defined(_MSC_VER)
#pragma warning(pop)
#endif
#endif // SURGSIM_MATH_LINEARSPARSESOLVEANDINVERSE_H
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