90 lines
3.8 KiB
C++
90 lines
3.8 KiB
C++
/***************************************************************************
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* Copyright (c) Konstantinos Poulios (logari81@gmail.com) 2011 *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#ifndef FREEGCS_SUBSYSTEM_H
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#define FREEGCS_SUBSYSTEM_H
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#undef min
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#undef max
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#include <Eigen/Dense>
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#include "Constraints.h"
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namespace GCS
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{
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class SubSystem
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{
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private:
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int psize, csize;
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std::vector<Constraint *> clist;
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VEC_pD plist; // pointers to the original parameters
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MAP_pD_pD pmap; // redirection map from the original parameters to pvals
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VEC_D pvals; // current variables vector (psize)
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// JacobianMatrix jacobi; // jacobi matrix of the residuals
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std::map<Constraint *,VEC_pD > c2p; // constraint to parameter adjacency list
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std::map<double *,std::vector<Constraint *> > p2c; // parameter to constraint adjacency list
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void initialize(VEC_pD ¶ms, MAP_pD_pD &reductionmap); // called by the constructors
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public:
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SubSystem(std::vector<Constraint *> &clist_, VEC_pD ¶ms);
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SubSystem(std::vector<Constraint *> &clist_, VEC_pD ¶ms,
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MAP_pD_pD &reductionmap);
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~SubSystem();
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int pSize() { return psize; };
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int cSize() { return csize; };
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void redirectParams();
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void revertParams();
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void getParamMap(MAP_pD_pD &pmapOut);
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void getParamList(VEC_pD &plistOut);
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void getParams(VEC_pD ¶ms, Eigen::VectorXd &xOut);
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void getParams(Eigen::VectorXd &xOut);
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void setParams(VEC_pD ¶ms, Eigen::VectorXd &xIn);
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void setParams(Eigen::VectorXd &xIn);
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double error();
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void calcResidual(Eigen::VectorXd &r);
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void calcResidual(Eigen::VectorXd &r, double &err);
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void calcJacobi(VEC_pD ¶ms, Eigen::MatrixXd &jacobi);
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void calcJacobi(Eigen::MatrixXd &jacobi);
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void calcGrad(VEC_pD ¶ms, Eigen::VectorXd &grad);
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void calcGrad(Eigen::VectorXd &grad);
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double maxStep(VEC_pD ¶ms, Eigen::VectorXd &xdir);
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double maxStep(Eigen::VectorXd &xdir);
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void applySolution();
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void analyse(Eigen::MatrixXd &J, Eigen::MatrixXd &ker, Eigen::MatrixXd &img);
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void report();
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void printResidual();
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};
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double lineSearch(SubSystem *subsys, Eigen::VectorXd &xdir);
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} //namespace GCS
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#endif // FREEGCS_SUBSYSTEM_H
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