dev_sparse_lu_tutorial.cpp
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00001 /*
00002  *    This file is part of ACADO Toolkit.
00003  *
00004  *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
00005  *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
00006  *    Milan Vukov, Rien Quirynen, KU Leuven.
00007  *    Developed within the Optimization in Engineering Center (OPTEC)
00008  *    under supervision of Moritz Diehl. All rights reserved.
00009  *
00010  *    ACADO Toolkit is free software; you can redistribute it and/or
00011  *    modify it under the terms of the GNU Lesser General Public
00012  *    License as published by the Free Software Foundation; either
00013  *    version 3 of the License, or (at your option) any later version.
00014  *
00015  *    ACADO Toolkit is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018  *    Lesser General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU Lesser General Public
00021  *    License along with ACADO Toolkit; if not, write to the Free Software
00022  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00023  *
00024  */
00025 
00026 
00027 
00039 #include <acado/utils/acado_utils.hpp>
00040 #include <acado/matrix_vector/matrix_vector.hpp>
00041 
00042 
00043 /* >>> start tutorial code >>> */
00044 int main( ){
00045 
00046     USING_NAMESPACE_ACADO
00047 
00048     int i;
00049 
00050     // DEFINE A MATRIX:
00051     // ----------------
00052     DMatrix A = readFromFile("J.txt");
00053 
00054     const int m = A.getNumRows();
00055 
00056     DVector b(m);
00057 
00058     for( i = 0; i < m; i++ )
00059         b(i) = 1.0;
00060 
00061     DMatrix B = A;
00062 
00063 
00064     double t2 = -acadoGetTime();
00065     A.computeSparseLUdecomposition();
00066     t2 += acadoGetTime();
00067     DVector res2 = b - B*A.solveSparseLU(b);
00068 
00069     printf("LU:  TIME = %.16e   ,  error = %.16e \n", t2, res2.getNorm( VN_LINF ) );
00070 
00071     DVector res3 = b - (B^A.solveTransposeSparseLU(b));
00072     printf("LU:  (transpose)   ,  error = %.16e \n", res3.getNorm( VN_LINF ) );
00073 
00074 
00075 //     double t1 = -acadoGetTime();
00076     A.computeQRdecomposition();
00077 //     t1 += acadoGetTime();
00078 //     DVector res1 = b - B*A.solveQR(b);
00079 // 
00080 //     printf("QR:  TIME = %.16e   ,  error = %.16e \n", t1, res1.getNorm( VN_LINF ) );
00081 
00082     return 0;
00083 }
00084 /* <<< end tutorial code <<< */
00085 
00086 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:57