overhauled physics engine
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Dynamitos
Vendored
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/* -------------------------------------------------------------
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This file is a component of SDPA
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Copyright (C) 2004-2013 SDPA Project
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program 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 General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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------------------------------------------------------------- */
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#ifndef __sdpa_newton_h__
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#define __sdpa_newton_h__
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#include "sdpa_chordal.h"
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// #include <pthread.h>
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#define SparseCholesky 1
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namespace sdpa {
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class Newton;
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class Solutions;
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class InputData;
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class Residuals;
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class ComputeTime;
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class Parameter;
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class StepLength;
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class DirectionParameter;
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class Switch;
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class RatioInitResCurrentRes;
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class SolveInfo;
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class Phase;
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class AverageComplementarity;
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class Newton
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{
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public:
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enum bMat_Sp_De {SPARSE, DENSE};
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bMat_Sp_De bMat_type;
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SparseMatrix sparse_bMat;
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DenseMatrix bMat; // the coefficent of Schur complement
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Vector gVec; // the right hand side of Schur complement
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// Caution:
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// if SDPA doesn't use sparse bMat, following variables are indefinite.
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//
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// nBlock : number of block
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// nConstraint[k]: number of combination of nonzero matrices in k-th block
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// when A[k].block[i] and A[k].block[j] are nonzero matrices,
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// i <-> constraint1[k][t]
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// j <-> constraint2[k][t]
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// A[k].block[i] <-> A[k].sp_block[blockIndex1[k][t]]
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// A[k].block[j] <-> A[k].sp_block[blockIndex2[k][t]]
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// B_{ij} <-> sparse_bMat.sp_ele[location_sparse_bMat[k][t]]
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int SDP_nBlock; int* SDP_number;
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int** SDP_constraint1; int** SDP_constraint2;
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int** SDP_blockIndex1; int** SDP_blockIndex2;
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int** SDP_location_sparse_bMat;
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int* SDP_nStartIndex2; // start new j&jb from this index
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int** SDP_startIndex2; // start new j&jb from this index
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int LP_nBlock; int* LP_number;
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int** LP_constraint1; int** LP_constraint2;
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int** LP_blockIndex1; int** LP_blockIndex2;
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int** LP_location_sparse_bMat;
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int* LP_nStartIndex2; // start new j&jb from this index
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int** LP_startIndex2; // start new j&jb from this index
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// from index of aggrigate sparsity pattern to index of sparse_bMat
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// B_{ii} <-> sparse_bMat[diagonalIndex[i]]
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int* diagonalIndex;
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// B_{ij} for all i is between diagonalIndex[j] and rowStartIndex[j+1]
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Newton();
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Newton(int m, BlockStruct& bs);
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~Newton();
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void initialize(int m, BlockStruct& bs);
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void finalize();
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void initialize_dense_bMat(int m);
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// 2008/03/12 kazuhide nakata
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void initialize_sparse_bMat(int m);
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// 2008/03/12 kazuhide nakata
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void initialize_bMat(int m, Chordal& chordal, InputData& inputData,
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FILE* Display, FILE* fpOut);
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int binarySearchIndex(int i, int j);
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void make_aggrigateIndex_SDP(InputData& inputData);
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void make_aggrigateIndex_LP(InputData& inputData);
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void make_aggrigateIndex(InputData& inputData);
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enum WHICH_DIRECTION {PREDICTOR, CORRECTOR};
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void compute_bMatgVec_dense(InputData& inputData,
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Solutions& currentPt,
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Residuals& currentRes,
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AverageComplementarity& mu,
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DirectionParameter& beta,
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Phase& phase,
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ComputeTime& com);
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static pthread_mutex_t job_mutex;
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static int Column_Number;
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static int Column_NumberDx;
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void compute_bMatgVec_dense_threads(InputData& inputData,
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Solutions& currentPt,
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Residuals& currentRes,
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AverageComplementarity& mu,
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DirectionParameter& beta,
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Phase& phase,
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ComputeTime& com);
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static void* compute_bMatgVec_dense_threads_SDP(void* arg);
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void compute_bMatgVec_sparse(InputData& inputData,
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Solutions& currentPt,
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Residuals& currentRes,
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AverageComplementarity& mu,
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DirectionParameter& beta,
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Phase& phase,
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ComputeTime& com);
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void compute_bMatgVec_sparse_threads(InputData& inputData,
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Solutions& currentPt,
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Residuals& currentRes,
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AverageComplementarity& mu,
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DirectionParameter& beta,
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Phase& phase,
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ComputeTime& com);
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static void* compute_bMatgVec_sparse_threads_SDP(void* arg);
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void Make_bMatgVec(InputData& inputData,
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Solutions& currentPt,
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Residuals& currentRes,
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AverageComplementarity& mu,
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DirectionParameter& beta,
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Phase& phase,
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ComputeTime& com);
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bool compute_DyVec(Newton::WHICH_DIRECTION direction,
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int m,
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InputData& inputData,
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Chordal& chordal,
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Solutions& currentPt,
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ComputeTime& com,
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FILE* Display, FILE* fpOut);
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void compute_DzMat(InputData& inputData,
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Solutions& currentPt,
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Residuals& currentRes,
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Phase& phase,
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ComputeTime& com);
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void compute_DxMat(Solutions& currentPt,
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AverageComplementarity& mu,
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DirectionParameter& beta,
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ComputeTime& com);
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void compute_DxMat_threads(Solutions& currentPt,
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AverageComplementarity& mu,
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DirectionParameter& beta,
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ComputeTime& com);
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static void* compute_DxMat_threads_SDP(void* arg);
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bool Mehrotra(WHICH_DIRECTION direction,
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int m,
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InputData& inputData,
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Chordal& chordal,
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Solutions& currentPt,
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Residuals& currentRes,
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AverageComplementarity& mu,
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DirectionParameter& beta,
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Switch& reduction,
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Phase& phase,
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ComputeTime& com,
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FILE* Display, FILE* fpOut);
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void checkDirection(int m, InputData& inputData,
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Solutions& currentPt,
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Residuals& currentRes,
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AverageComplementarity& mu,
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DirectionParameter& beta,
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Switch& reduction,
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Phase& phase,
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ComputeTime& com,
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FILE* Display, FILE* fpOut);
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void display(FILE* fpout=stdout);
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void display_index(FILE* fpout=stdout);
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void display_sparse_bMat(FILE* fpout=stdout);
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int NUM_THREADS;
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void setNumThreads(FILE* Display, FILE* fpOut, int NumThreads=0);
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};
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typedef struct _thread_arg {
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int l;
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int m;
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double target_mu;
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int thread_num;
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InputData* addr_inputData;
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CholmodMatrix* addr_cholmodMatrix;
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DenseMatrix* addr_bMat;
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Vector* addr_gVec;
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Phase* addr_phase;
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} thread_arg_t;
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typedef struct _thread_arg_s {
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int l;
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int m;
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double target_mu;
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int thread_num;
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InputData* addr_inputData;
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CholmodMatrix* addr_cholmodMatrix;
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SparseMatrix* addr_sparse_bMat;
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Vector* addr_gVec;
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Phase* addr_phase;
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Newton* addr_newton;
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} thread_arg_s;
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typedef struct _thread_DX {
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int l;
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int thread_num;
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double target_mu;
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CholmodMatrix* addr_cholmodMatrix;
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OrderingMatrix* addr_order;
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} thread_DX_t;
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} // end of namespace 'sdpa'
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#endif // __sdpa_newton_h__
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