Examples with SparseMatrixNd maspack.matrix.SparseMatrixNd used on opensource projects

Example 1 with SparseMatrixNd

use of maspack.matrix.SparseMatrixNd in project artisynth_core by artisynth.

the class CGSolverTest method createConstraintProblem.

public SparseMatrixNd createConstraintProblem(int nbodies) {
    SparseMatrixNd M = new SparseMatrixNd(5 * nbodies, 5 * nbodies);
    Matrix3d mass = new Matrix3d();
    for (int k = 0; k < nbodies; k++) {
        mass.setRandom(-0.5, 0.5, randGen);
        mass.mulTranspose(mass);
        for (int i = 0; i < 3; i++) {
            for (int j = 0; j < 3; j++) {
                M.set(3 * k + i, 3 * k + j, mass.get(i, j));
            }
        }
    }
    int[] connectionCount = new int[nbodies * nbodies];
    Vector3d n = new Vector3d();
    for (int k = 0; k < 2 * nbodies; k++) {
        // find a random connection between two bodies
        int bod1, bod2;
        do {
            bod1 = randGen.nextInt(nbodies);
            bod2 = randGen.nextInt(nbodies);
            if (bod1 < bod2) {
                int l = bod1;
                bod1 = bod2;
                bod2 = l;
            }
        } while (bod1 == bod2 || connectionCount[bod1 * nbodies + bod2] >= 2);
        connectionCount[bod1 * nbodies + bod2]++;
        n.setRandom(-0.5, 0.5, randGen);
        for (int i = 0; i < 3; i++) {
            M.set(bod1 * 3 + i, 3 * nbodies + k, n.get(i));
            M.set(bod2 * 3 + i, 3 * nbodies + k, -n.get(i));
            M.set(3 * nbodies + k, bod1 * 3 + i, n.get(i));
            M.set(3 * nbodies + k, bod2 * 3 + i, -n.get(i));
        }
    }
    return M;
}

Example 2 with SparseMatrixNd

use of maspack.matrix.SparseMatrixNd in project artisynth_core by artisynth.

the class CGSolverTest method timing.

public void timing() {
    CGSolver solver = new CGSolver();
    FunctionTimer timer = new FunctionTimer();
    for (int nbod = 10; nbod <= 50; nbod += 10) {
        SparseMatrixNd Sc = createBlockDiagonal(nbod);
        VectorNd xc = new VectorNd(Sc.rowSize());
        VectorNd bc = new VectorNd(Sc.rowSize());
        bc.setRandom(-0.5, 0.5, randGen);
        int loopCnt = 10;
        boolean solved = true;
        timer.start();
        for (int i = 0; i < loopCnt; i++) {
            xc.setZero();
            if (!solver.solve(xc, Sc, bc, 1e-8, 10 * xc.size())) {
                solved = false;
                break;
            }
        }
        timer.stop();
        if (!solved) {
            System.out.println("" + nbod + " bodies: No convergence");
        } else {
            System.out.println("" + nbod + " bodies: " + timer.resultMsec(loopCnt));
            System.out.println("         iterations=" + solver.getNumIterations() + " error=" + solver.getRelativeResidual());
        }
    }
}

Example 3 with SparseMatrixNd

use of maspack.matrix.SparseMatrixNd in project artisynth_core by artisynth.

the class CRSolverTest method test.

public void test() {
    // use a small matrix size for now
    int size = 20;
    double eps = 1e-9;
    CRSolver solver = new CRSolver();
    LUDecomposition LU = new LUDecomposition();
    MatrixNd M = new MatrixNd(size, size);
    VectorNd x = new VectorNd(size);
    VectorNd b = new VectorNd(size);
    VectorNd xcheck = new VectorNd(size);
    // identity matrix to try as trivial pre-conditioner
    MatrixNd I = new MatrixNd(size, size);
    I.setIdentity();
    // inverse matrix to try as pre-conditioner
    MatrixNd Minv = new MatrixNd(size, size);
    for (int i = 0; i < 10; i++) {
        int numIter;
        M.setRandom(-0.5, 0.5, randGen);
        // make sure matrix is SPD
        M.mulTranspose(M);
        b.setRandom(-0.5, 0.5, randGen);
        x.setZero();
        if (!solver.solve(x, M, b, eps, size * size)) {
            throw new TestException("No convergence: error=" + solver.getRelativeResidual());
        }
        numIter = solver.getNumIterations();
        LU.factor(M);
        LU.solve(xcheck, b);
        if (!xcheck.epsilonEquals(x, x.norm() * eps)) {
            throw new TestException("Solver gave wrong answer. Expected\n" + xcheck.toString("%8.3f") + "\nGot\n" + x.toString("%8.3f"));
        }
        // System.out.println ("condEst=" + LU.conditionEstimate (M));
        SparseMatrixNd Sc = createBlockDiagonal(10);
        VectorNd bc = new VectorNd(Sc.colSize());
        VectorNd xc = new VectorNd(Sc.colSize());
        bc.setRandom(-0.5, 0.5, randGen);
        if (!solver.solve(xc, Sc, bc, eps, 10 * xc.size())) {
            throw new TestException("No convergence, constraint problem: error=" + solver.getRelativeResidual());
        }
    // x.setZero();
    // if(!solver.solve(x, M, b, eps, size * size, I))
    // {
    // throw new TestException("No convergence, identity preconditioner:
    // error=" + solver.getRelativeResidual());
    // }
    // 
    // if(numIter != solver.getNumIterations())
    // {
    // throw new TestException("Different iteration count with identity
    // preconditioner: " + solver.getNumIterations() + " vs. " + numIter);
    // }
    // 
    // LU.inverse(Minv);
    // x.setZero();
    // if(!solver.solve(x, M, b, eps, size * size, Minv))
    // {
    // throw new TestException("No convergence, inverse preconditioner:
    // error=" + solver.getRelativeResidual());
    // }
    // 
    // if(solver.getNumIterations() > 2)
    // {
    // throw new TestException("Num iterations > 2 with inverse
    // preconditioner");
    // }
    // System.out.println ("num iter=" + solver.getNumIterations());
    // try
    // { PrintWriter pw =
    // new PrintWriter (new FileWriter ("mat.m"));
    // pw.println ("M=[\n" + Sc.toString ("%12.9f") + "]");
    // pw.println ("b=[\n" + bc.toString ("%12.9f") + "]");
    // pw.println ("x=[\n" + xc.toString ("%12.9f") + "]");
    // pw.close();
    // }
    // catch (Exception e)
    // {
    // }
    }
}

Example 4 with SparseMatrixNd

use of maspack.matrix.SparseMatrixNd in project artisynth_core by artisynth.

the class CRSolverTest method timing.

public void timing() {
    CGSolver solver = new CGSolver();
    FunctionTimer timer = new FunctionTimer();
    for (int nbod = 10; nbod <= 50; nbod += 10) {
        SparseMatrixNd Sc = createBlockDiagonal(nbod);
        VectorNd xc = new VectorNd(Sc.rowSize());
        VectorNd bc = new VectorNd(Sc.rowSize());
        bc.setRandom(-0.5, 0.5, randGen);
        int loopCnt = 10;
        boolean solved = true;
        timer.start();
        for (int i = 0; i < loopCnt; i++) {
            xc.setZero();
            if (!solver.solve(xc, Sc, bc, 1e-8, 10 * xc.size())) {
                solved = false;
                break;
            }
        }
        timer.stop();
        if (!solved) {
            System.out.println("" + nbod + " bodies: No convergence");
        } else {
            System.out.println("" + nbod + " bodies: " + timer.resultMsec(loopCnt));
            System.out.println("         iterations=" + solver.getNumIterations() + " error=" + solver.getRelativeResidual());
        }
    }
}

Example 5 with SparseMatrixNd

use of maspack.matrix.SparseMatrixNd in project artisynth_core by artisynth.

the class CRSolverTest method createConstraintProblem.

public SparseMatrixNd createConstraintProblem(int nbodies) {
    SparseMatrixNd M = new SparseMatrixNd(5 * nbodies, 5 * nbodies);
    Matrix3d mass = new Matrix3d();
    for (int k = 0; k < nbodies; k++) {
        mass.setRandom(-0.5, 0.5, randGen);
        mass.mulTranspose(mass);
        for (int i = 0; i < 3; i++) {
            for (int j = 0; j < 3; j++) {
                M.set(3 * k + i, 3 * k + j, mass.get(i, j));
            }
        }
    }
    int[] connectionCount = new int[nbodies * nbodies];
    Vector3d n = new Vector3d();
    for (int k = 0; k < 2 * nbodies; k++) {
        // find a random connection between two bodies
        int bod1, bod2;
        do {
            bod1 = randGen.nextInt(nbodies);
            bod2 = randGen.nextInt(nbodies);
            if (bod1 < bod2) {
                int l = bod1;
                bod1 = bod2;
                bod2 = l;
            }
        } while (bod1 == bod2 || connectionCount[bod1 * nbodies + bod2] >= 2);
        connectionCount[bod1 * nbodies + bod2]++;
        n.setRandom(-0.5, 0.5, randGen);
        for (int i = 0; i < 3; i++) {
            M.set(bod1 * 3 + i, 3 * nbodies + k, n.get(i));
            M.set(bod2 * 3 + i, 3 * nbodies + k, -n.get(i));
            M.set(3 * nbodies + k, bod1 * 3 + i, n.get(i));
            M.set(3 * nbodies + k, bod2 * 3 + i, -n.get(i));
        }
    }
    return M;
}