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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
// Author: Hadrien Courtecuisse
//
// Copyright: See COPYING file that comes with this distribution
#include <sofa/component/linearsolver/SparseTAUCSSolver.h>
#include <sofa/core/ObjectFactory.h>
#include <iostream>
#include "sofa/helper/system/thread/CTime.h"
#include <sofa/core/objectmodel/BaseContext.h>
#include <sofa/core/componentmodel/behavior/LinearSolver.h>
#include <math.h>
#include <sofa/helper/system/thread/CTime.h>
#include <sofa/component/linearsolver/CompressedRowSparseMatrix.h>
namespace sofa {
namespace component {
namespace linearsolver {
using namespace sofa::defaulttype;
using namespace sofa::core::componentmodel::behavior;
using namespace sofa::simulation;
using namespace sofa::core::objectmodel;
using sofa::helper::system::thread::CTime;
using sofa::helper::system::thread::ctime_t;
using std::cerr;
using std::endl;
template<class TMatrix, class TVector>
SparseTAUCSSolver<TMatrix,TVector>::SparseTAUCSSolver()
: f_options( initData(&f_options,"options","TAUCS unified solver list of space-separated options") )
, f_symmetric( initData(&f_symmetric,true,"symmetric","Consider the system matrix as symmetric") )
, f_verbose( initData(&f_verbose,false,"verbose","Dump system state at each iteration") )
, f_graph( initData(&f_graph,"graph","Graph of residuals at each iteration") )
, factorization(NULL)
{
f_graph.setWidget("graph");
f_graph.setReadOnly(true);
}
template<class TMatrix, class TVector>
SparseTAUCSSolver<TMatrix,TVector>::~SparseTAUCSSolver() {
if (factorization) taucs_linsolve(NULL, &factorization, 0, NULL, NULL, NULL, NULL);
}
template<class T>
int get_taucs_flags();
template<>
int get_taucs_flags<double>() { return TAUCS_DOUBLE; }
template<>
int get_taucs_flags<float>() { return TAUCS_SINGLE; }
template<class TMatrix, class TVector>
void SparseTAUCSSolver<TMatrix,TVector>::invert(Matrix& M) {
M.compress();
if (f_symmetric.getValue())
{
Mfiltered.copyUpperNonZeros(M);
sout << "Filtered upper part of M, nnz = " << Mfiltered.getRowBegin().back() << sendl;
}
else
{
Mfiltered.copyNonZeros(M);
sout << "Filtered M, nnz = " << Mfiltered.getRowBegin().back() << sendl;
}
matrix_taucs.n = Mfiltered.rowSize();
matrix_taucs.m = Mfiltered.colSize();
matrix_taucs.flags = get_taucs_flags<Real>();
if (f_symmetric.getValue())
{
matrix_taucs.flags |= TAUCS_SYMMETRIC;
matrix_taucs.flags |= TAUCS_LOWER; // Upper on row-major is actually lower or column-major transposed matrix
}
matrix_taucs.colptr = (int *) &(Mfiltered.getRowBegin()[0]);
matrix_taucs.rowind = (int *) &(Mfiltered.getColsIndex()[0]);
matrix_taucs.values.d = (double*) &(Mfiltered.getColsValue()[0]);
helper::vector<char*> opts;
const helper::vector<std::string>& options = f_options.getValue();
for (unsigned int i=0;i<options.size();++i)
opts.push_back((char*)options[i].c_str());
opts.push_back(NULL);
if (this->f_printLog.getValue())
taucs_logfile((char*)"stdout");
if (factorization) taucs_linsolve(NULL, &factorization, 0, NULL, NULL, NULL, NULL);
int rc = taucs_linsolve(&matrix_taucs, &factorization, 0, NULL, NULL, &(opts[0]), NULL);
if (this->f_printLog.getValue())
taucs_logfile((char*)"none");
if (rc != TAUCS_SUCCESS)
{
const char* er = "";
switch(rc)
{
case TAUCS_SUCCESS: er = "SUCCESS"; break;
case TAUCS_ERROR : er = "ERROR"; break;
case TAUCS_ERROR_NOMEM: er = "NOMEM"; break;
case TAUCS_ERROR_BADARGS: er = "BADARGS"; break;
case TAUCS_ERROR_MAXDEPTH: er = "MAXDEPTH"; break;
case TAUCS_ERROR_INDEFINITE: er = "INDEFINITE"; break;
}
serr << "TAUCS factorization failed: " << er << sendl;
}
}
template<class TMatrix, class TVector>
void SparseTAUCSSolver<TMatrix,TVector>::solve (Matrix& /*M*/, Vector& z, Vector& r) {
helper::vector<char*> opts;
const helper::vector<std::string>& options = f_options.getValue();
for (unsigned int i=0;i<options.size();++i)
opts.push_back((char*)options[i].c_str());
//opts.push_back((char*)"taucs.factor.symbolic=false");
//opts.push_back((char*)"taucs.factor.numeric=false");
opts.push_back((char*)"taucs.factor=false");
opts.push_back(NULL);
if (this->f_printLog.getValue())
taucs_logfile((char*)"stdout");
int rc = taucs_linsolve(&matrix_taucs, &factorization, 1, z.ptr(), r.ptr(), &(opts[0]), NULL);
if (this->f_printLog.getValue())
taucs_logfile((char*)"none");
if (rc != TAUCS_SUCCESS)
{
const char* er = "";
switch(rc)
{
case TAUCS_SUCCESS: er = "SUCCESS"; break;
case TAUCS_ERROR : er = "ERROR"; break;
case TAUCS_ERROR_NOMEM: er = "NOMEM"; break;
case TAUCS_ERROR_BADARGS: er = "BADARGS"; break;
case TAUCS_ERROR_MAXDEPTH: er = "MAXDEPTH"; break;
case TAUCS_ERROR_INDEFINITE: er = "INDEFINITE"; break;
}
serr << "TAUCS solve failed: " << er << sendl;
}
}
SOFA_DECL_CLASS(SparseTAUCSSolver)
int SparseTAUCSSolverClass = core::RegisterObject("Linear system solver using the conjugate gradient iterative algorithm")
.add< SparseTAUCSSolver< CompressedRowSparseMatrix<double>,FullVector<double> > >(true)
.addAlias("TAUCSSolver")
;
} // namespace linearsolver
} // namespace component
} // namespace sofa
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