98051ba0c9
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/ directory for integration in later phases - Add Create addon scaffold: package.xml, Init.py - Add expression DAG with eval, symbolic diff, simplification - Add parameter table with fixed/free variable tracking - Add quaternion rotation as polynomial Expr trees - Add RigidBody entity (7 DOF: position + unit quaternion) - Add constraint classes: Coincident, DistancePointPoint, Fixed - Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq - Add pre-solve passes: substitution + single-equation - Add DOF counting via Jacobian SVD rank - Add KindredSolver IKCSolver bridge for kcsolve integration - Add 82 unit tests covering all modules Registers as 'kindred' solver via kcsolve.register_solver() when loaded by Create's addon_loader.
103 lines
3.3 KiB
C++
103 lines
3.3 KiB
C++
/***************************************************************************
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* Copyright (c) 2023 Ondsel, Inc. *
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* *
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* This file is part of OndselSolver. *
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* *
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* See LICENSE file for details about copyright. *
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***************************************************************************/
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#include <algorithm>
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#include <cassert>
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#include <cstdint>
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#include "GESpMatFullPvPosIC.h"
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#include "SingularMatrixError.h"
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#include "PosICNewtonRaphson.h"
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using namespace MbD;
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void GESpMatFullPvPosIC::preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal)
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{
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GESpMatFullPv::preSolvewithsaveOriginal(spMat, fullCol, saveOriginal);
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if (system == nullptr) {
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pivotRowLimits = std::make_shared<std::vector<size_t>>();
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}
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else {
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pivotRowLimits = system->pivotRowLimits;
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}
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pivotRowLimit = SIZE_MAX;
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}
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void GESpMatFullPvPosIC::doPivoting(size_t p)
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{
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//"Used by Gauss Elimination only."
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//"Swap rows but keep columns in place."
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//"The elements below the diagonal are removed column by column."
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double max = 0.0;
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auto pivotRow = p;
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auto pivotCol = p;
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for (size_t j = p; j < n; j++)
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{
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rowPositionsOfNonZerosInColumns->at(colOrder->at(j))->clear();
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}
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if (pivotRowLimit == SIZE_MAX || p >= pivotRowLimit) {
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pivotRowLimit = *std::find_if(
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pivotRowLimits->begin(), pivotRowLimits->end(),
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[&](size_t limit) { return limit > p; });
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}
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for (size_t i = p; i < pivotRowLimit; i++)
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{
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auto& rowi = matrixA->at(i);
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for (auto const& kv : *rowi) {
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rowPositionsOfNonZerosInColumns->at(kv.first)->push_back(i);
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auto aij = kv.second;
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auto mag = aij;
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if (mag < 0.0) mag = -mag;
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if (max < mag) {
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max = mag;
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pivotRow = i;
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pivotCol = positionsOfOriginalCols->at(kv.first);
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}
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}
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}
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if (p != pivotRow) {
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matrixA->swapElems(p, pivotRow);
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rightHandSideB->swapElems(p, pivotRow);
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rowOrder->swapElems(p, pivotRow);
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}
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if (p != pivotCol) {
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colOrder->swapElems(p, pivotCol);
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positionsOfOriginalCols->at(colOrder->at(p)) = p;
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positionsOfOriginalCols->at(colOrder->at(pivotCol)) = pivotCol;
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}
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pivotValues->at(p) = max;
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if (max < singularPivotTolerance) {
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auto itr = std::find_if(
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pivotRowLimits->begin(), pivotRowLimits->end(),
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[&](size_t limit) { return limit > pivotRowLimit; });
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if (itr == pivotRowLimits->end()) {
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auto begin = rowOrder->begin() + p;
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auto end = rowOrder->begin() + pivotRowLimit;
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auto redundantEqnNos = std::make_shared<FullColumn<size_t>>(begin, end);
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throwSingularMatrixError("", redundantEqnNos);
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}
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else {
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pivotRowLimit = *itr;
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}
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return this->doPivoting(p);
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}
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auto jp = colOrder->at(p);
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rowPositionsOfNonZerosInPivotColumn = rowPositionsOfNonZerosInColumns->at(jp);
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for (size_t i = pivotRowLimit; i < m; i++)
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{
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auto& spRowi = matrixA->at(i);
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if (spRowi->find(jp) != spRowi->end()) {
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rowPositionsOfNonZerosInPivotColumn->push_back(i);
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}
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}
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if (rowPositionsOfNonZerosInPivotColumn->front() == p) {
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rowPositionsOfNonZerosInPivotColumn->erase(rowPositionsOfNonZerosInPivotColumn->begin());
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}
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markowitzPivotColCount = rowPositionsOfNonZerosInPivotColumn->size();
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} |