csparse.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 //
00036 // Interface to CSparse
00037 //
00038 
00039 #ifndef _CSPARSE_H_
00040 #define _CSPARSE_H_
00041 
00042 #ifndef EIGEN_USE_NEW_STDVECTOR
00043 #define EIGEN_USE_NEW_STDVECTOR
00044 #endif // EIGEN_USE_NEW_STDVECTOR
00045 
00046 #include <stdio.h>
00047 #include <iostream>
00048 #include <Eigen/Core>
00049 #include <Eigen/Geometry>
00050 #include <Eigen/LU>
00051 #include <Eigen/StdVector>
00052 
00053 // CSparse header
00054 extern "C" {
00055 #include "cs.h"
00056 }
00057 #include <vector>
00058 #include <map>
00059 
00060 // Cholmod header, other header files brought in
00061 #ifdef SBA_CHOLMOD
00062 #include "cholmod.h"
00063 #endif
00064 
00065 // these are for SparseLib and IML, testing the Delayed State Filter
00066 #ifdef SBA_DSIF
00067 #include "SparseLib/compcol_double.h" // Compressed column matrix header
00068 #include "SparseLib/mvblasd.h"  // MV_Vector level 1 BLAS
00069 #include "SparseLib/icpre_double.h" // Diagonal preconditioner
00070 #include "SparseLib/cg.h"       // IML++ CG template
00071 #endif
00072 
00073 // block jacobian PCG
00074 //#include "SPA/bpcg.h"
00075 
00076 using namespace Eigen;
00077 using namespace std;
00078 
00079 
00080   class CSparse2d
00081   {
00082   public:
00083     EIGEN_MAKE_ALIGNED_OPERATOR_NEW // needed for 16B alignment
00084 
00085     // constructor
00086     CSparse2d();
00087 
00088     // destructor
00089     ~CSparse2d();
00090 
00091     // storage of diagonal blocks
00092     vector< Matrix<double,3,3>, aligned_allocator<Matrix<double,3,3> > > diag;
00093     // compressed column storage of blocks
00094     vector< map<int,Matrix<double,3,3>, less<int>, 
00095                 aligned_allocator<Matrix<double,3,3> > > > cols;
00096 
00097     void setupBlockStructure(int n, bool eraseit = true); // size of rows/cols of A (in blocks)
00098     
00099     // add in blocks
00100     inline void addDiagBlock(Matrix<double,3,3> &m, int n)
00101       { diag[n]+=m; };
00102     void addOffdiagBlock(Matrix<double,3,3> &m, int ii, int jj);
00103     void incDiagBlocks(double lam);
00104 
00105     // set up compressed column structure; <init> true if first time
00106     // <diaginc> is the diagonal multiplier for LM
00107     void setupCSstructure(double diaginc, bool init=false); 
00108 
00109     // write cs structure into a dense Eigen matrix
00110     void uncompress(MatrixXd &m);
00111 
00112     // parameters
00113     int asize, csize;           // matrix A is asize x asize (blocks), csize x csize (elements)
00114     int nnz;                    // number of non-zeros in A
00115 
00116     // CSparse2d structures
00117     cs *A, *AF;                 // linear problem matrices, A upper diagonal, AF symmetric
00118 
00119     // RHS Eigen vector
00120     VectorXd B, Bprev;
00121 
00122     // which algorithm?
00123     bool useCholmod;
00124 
00125     // doing the Cholesky
00126     bool doChol();              // solve in place with RHS B
00127 
00128     // doing PCG with incomplete Cholesky preconditioner
00129     // returns 0 on success, 1 on not achieving tolerance, >1 on other errors
00130     int doPCG(int iters);
00131 
00132     // doing the BPCG
00133     // max iterations <iter>, ending toleranace <tol>    
00134   //  int doBPCG(int iters, double tol, int sba_iter);
00135     // CG structure for 3x3 matrices
00136   //  jacobiBPCG<3> bpcg;
00137 
00138 #ifdef SBA_CHOLMOD
00139     // CHOLMOD structures
00140     bool chInited;
00141     cholmod_sparse *chA;        // linear problem matrix
00142     cholmod_common *chc;
00143     cholmod_common Common;
00144 #endif
00145 
00146   };
00147 
00148 #endif  // _CSPARSE_H


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Mon Oct 6 2014 02:44:17