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Sketcher: New Features: SparseQR decomposition and Solver advanced control TaskBox

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==================================================================================

The solver has been adapted to use Eigen's SparseQR QR decomposition algorithm. The original
Dense QR implementation is maintained and can be selected using the Advanced Control TaskBox (see below).

The use of SparseQR provides over an order of magnitude improvement in solving time in complex sketches due to
the Sparse nature of the Jacobian matrix of the system of equations.

The solver advanced control is a new TaskBox in the Sketcher that allows to select which algorithms are to be used for
the different solving operations and tweak its parameters. It is not intended to be a user control, but means to debug
solving problems and improve the algorithms and their configuration.

This commit also introduces multithread support for Eigen. Currently it is only limited to products and does not provide
a substantial speed improvement. It is expected to have more multithreaded operations in Eigen in the future.

As a bonus, the TaskBoxes in the Taskbar of the Sketcher remember the last state (collapsed or deployed).
This commit is contained in:
Abdullah Tahiri
2015-06-14 19:30:29 +02:00
committed by wmayer
parent 02df1acb5f
commit 796c9d79d4
11 changed files with 1555 additions and 139 deletions
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200
src/Mod/Sketcher/App/Sketch.cpp
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@@ -55,7 +55,6 @@
#include <iostream>
using namespace Sketcher;
using namespace Base;
using namespace Part;
@@ -63,7 +62,8 @@ using namespace Part;
TYPESYSTEM_SOURCE(Sketcher::Sketch, Base::Persistence)
Sketch::Sketch()
: GCSsys(), ConstraintsCounter(0), isInitMove(false)
: GCSsys(), ConstraintsCounter(0), isInitMove(false),
defaultSolver(GCS::DogLeg),defaultSolverRedundant(GCS::DogLeg),debugMode(GCS::Minimal)
{
}
@@ -110,6 +110,9 @@ int Sketch::setUpSketch(const std::vector<Part::Geometry *> &GeoList,
const std::vector<Constraint *> &ConstraintList,
int extGeoCount)
{
Base::TimeInfo start_time;
clear();
std::vector<Part::Geometry *> intGeoList, extGeoList;
@@ -131,9 +134,16 @@ int Sketch::setUpSketch(const std::vector<Part::Geometry *> &GeoList,
}
GCSsys.clearByTag(-1);
GCSsys.declareUnknowns(Parameters);
GCSsys.initSolution();
GCSsys.initSolution(defaultSolverRedundant);
GCSsys.getConflicting(Conflicting);
GCSsys.getRedundant(Redundant);
if(debugMode==GCS::Minimal || debugMode==GCS::IterationLevel) {
Base::TimeInfo end_time;
Base::Console().Log("Sketcher::setUpSketch()-T:%s\n",Base::TimeInfo::diffTime(start_time,end_time).c_str());
}
return GCSsys.dofsNumber();
}
@@ -2086,77 +2096,137 @@ int Sketch::solve(void)
GCSsys.clearByTag(-1);
isFine = true;
}
int ret;
bool valid_solution;
for (int soltype=0; soltype < (isInitMove ? 1 : 4); soltype++) {
std::string solvername;
switch (soltype) {
case 0: // solving with the default DogLeg solver
// (or with SQP if we are in moving mode)
solvername = isInitMove ? "SQP" : "DogLeg";
ret = GCSsys.solve(isFine, GCS::DogLeg);
break;
case 1: // solving with the LevenbergMarquardt solver
solvername = "LevenbergMarquardt";
ret = GCSsys.solve(isFine, GCS::LevenbergMarquardt);
break;
case 2: // solving with the BFGS solver
solvername = "BFGS";
ret = GCSsys.solve(isFine, GCS::BFGS);
break;
case 3: // last resort: augment the system with a second subsystem and use the SQP solver
solvername = "SQP(augmented system)";
InitParameters.resize(Parameters.size());
int i=0;
for (std::vector<double*>::iterator it = Parameters.begin(); it != Parameters.end(); ++it, i++) {
InitParameters[i] = **it;
GCSsys.addConstraintEqual(*it, &InitParameters[i], -1);
}
GCSsys.initSolution();
ret = GCSsys.solve(isFine);
break;
std::string solvername;
int defaultsoltype;
if(isInitMove){
solvername = "DogLeg"; // DogLeg is used for dragging (same as before)
ret = GCSsys.solve(isFine, GCS::DogLeg);
}
else{
switch (defaultSolver) {
case 0:
solvername = "BFGS";
ret = GCSsys.solve(isFine, GCS::BFGS);
defaultsoltype=2;
break;
case 1: // solving with the LevenbergMarquardt solver
solvername = "LevenbergMarquardt";
ret = GCSsys.solve(isFine, GCS::LevenbergMarquardt);
defaultsoltype=1;
break;
case 2: // solving with the BFGS solver
solvername = "DogLeg";
ret = GCSsys.solve(isFine, GCS::DogLeg);
defaultsoltype=0;
break;
}
}
// if successfully solved try to write the parameters back
if (ret == GCS::Success) {
GCSsys.applySolution();
valid_solution = updateGeometry();
if (!valid_solution) {
GCSsys.undoSolution();
updateGeometry();
Base::Console().Warning("Invalid solution from %s solver.\n", solvername.c_str());
}else
{
updateNonDrivingConstraints();
}
} else {
valid_solution = false;
if(debugMode==GCS::Minimal || debugMode==GCS::IterationLevel){
Base::Console().Log("Sketcher::Solve()-%s- Failed!! Falling back...\n",solvername.c_str());
}
}
// if successfully solved try to write the parameters back
if (ret == GCS::Success) {
GCSsys.applySolution();
valid_solution = updateGeometry();
if (!valid_solution) {
GCSsys.undoSolution();
updateGeometry();
Base::Console().Warning("Invalid solution from %s solver.\n", solvername.c_str());
}else
{
updateNonDrivingConstraints();
if(!valid_solution && !isInitMove) { // Fall back to other solvers
for (int soltype=0; soltype < 4; soltype++) {
if(soltype==defaultsoltype){
continue; // skip default solver
}
} else {
valid_solution = false;
//Base::Console().Log("NotSolved ");
}
if (soltype == 3) // cleanup temporary constraints of the augmented system
GCSsys.clearByTag(-1);
if (valid_solution) {
if (soltype == 1)
Base::Console().Log("Important: the LevenbergMarquardt solver succeeded where the DogLeg solver had failed.\n");
else if (soltype == 2)
Base::Console().Log("Important: the BFGS solver succeeded where the DogLeg and LevenbergMarquardt solvers have failed.\n");
else if (soltype == 3)
Base::Console().Log("Important: the SQP solver succeeded where all single subsystem solvers have failed.\n");
if (soltype > 0) {
Base::Console().Log("If you see this message please report a way of reproducing this result at\n");
Base::Console().Log("http://www.freecadweb.org/tracker/main_page.php\n");
switch (soltype) {
case 0:
solvername = "DogLeg";
ret = GCSsys.solve(isFine, GCS::DogLeg);
break;
case 1: // solving with the LevenbergMarquardt solver
solvername = "LevenbergMarquardt";
ret = GCSsys.solve(isFine, GCS::LevenbergMarquardt);
break;
case 2: // solving with the BFGS solver
solvername = "BFGS";
ret = GCSsys.solve(isFine, GCS::BFGS);
break;
case 3: // last resort: augment the system with a second subsystem and use the SQP solver
solvername = "SQP(augmented system)";
InitParameters.resize(Parameters.size());
int i=0;
for (std::vector<double*>::iterator it = Parameters.begin(); it != Parameters.end(); ++it, i++) {
InitParameters[i] = **it;
GCSsys.addConstraintEqual(*it, &InitParameters[i], -1);
}
GCSsys.initSolution();
ret = GCSsys.solve(isFine);
break;
}
break;
}
} // soltype
// if successfully solved try to write the parameters back
if (ret == GCS::Success) {
GCSsys.applySolution();
valid_solution = updateGeometry();
if (!valid_solution) {
GCSsys.undoSolution();
updateGeometry();
Base::Console().Warning("Invalid solution from %s solver.\n", solvername.c_str());
}else
{
updateNonDrivingConstraints();
}
} else {
valid_solution = false;
if(debugMode==GCS::Minimal || debugMode==GCS::IterationLevel){
Base::Console().Log("Sketcher::Solve()-%s- Failed!! Falling back...\n",solvername.c_str());
}
}
if (soltype == 3) // cleanup temporary constraints of the augmented system
GCSsys.clearByTag(-1);
if (valid_solution) {
if (soltype == 1)
Base::Console().Log("Important: the LevenbergMarquardt solver succeeded where the DogLeg solver had failed.\n");
else if (soltype == 2)
Base::Console().Log("Important: the BFGS solver succeeded where the DogLeg and LevenbergMarquardt solvers have failed.\n");
else if (soltype == 3)
Base::Console().Log("Important: the SQP solver succeeded where all single subsystem solvers have failed.\n");
if (soltype > 0) {
Base::Console().Log("If you see this message please report a way of reproducing this result at\n");
Base::Console().Log("http://www.freecadweb.org/tracker/main_page.php\n");
}
break;
}
} // soltype
}
Base::TimeInfo end_time;
//Base::Console().Log("T:%s\n",Base::TimeInfo::diffTime(start_time,end_time).c_str());
if(debugMode==GCS::Minimal || debugMode==GCS::IterationLevel){
Base::Console().Log("Sketcher::Solve()-%s-T:%s\n",solvername.c_str(),Base::TimeInfo::diffTime(start_time,end_time).c_str());
}
SolveTime = Base::TimeInfo::diffTimeF(start_time,end_time);
return ret;
}