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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/SparseLDLSolver.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>
SparseLDLSolver<TMatrix,TVector>::SparseLDLSolver()
: 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") )
, f_tol( initData(&f_tol,0.001,"tolerance","tolerance of factorization") )
{
f_graph.setWidget("graph");
f_graph.setReadOnly(true);
}
template<class TMatrix, class TVector>
SparseLDLSolver<TMatrix,TVector>::~SparseLDLSolver() {}
template<class TMatrix, class TVector>
void SparseLDLSolver<TMatrix,TVector>::solve (Matrix& /*M*/, Vector& z, Vector& r) {
z = r;
ldl_lsolve (n, z.ptr(), &Lp[0], &Li[0], &Lx[0]) ;
ldl_dsolve (n, z.ptr(), &D[0]) ;
ldl_ltsolve (n, z.ptr(), &Lp[0], &Li[0], &Lx[0]) ;
}
template<class TMatrix, class TVector>
void SparseLDLSolver<TMatrix,TVector>::invert(Matrix& M) {
M.compress();
//remplir A avec M
n = M.colBSize(); // number of columns
A_p = M.getRowBegin();
A_i = M.getColsIndex();
A_x = M.getColsValue();
D.resize(n);
Y.resize(n);
Lp.resize(n+1);
Parent.resize(n);
Lnz.resize(n);
Flag.resize(n);
Pattern.resize(n);
ldl_symbolic (n, &A_p[0], &A_i[0], &Lp[0], &Parent[0], &Lnz[0], &Flag[0], NULL, NULL) ;
Lx.resize(Lp[n]);
Li.resize(Lp[n]);
ldl_numeric (n, &A_p[0], &A_i[0], &A_x[0], &Lp[0], &Parent[0], &Lnz[0], &Li[0], &Lx[0], &D[0], &Y[0], &Pattern[0], &Flag[0], NULL, NULL) ;
}
template<class TMatrix, class TVector>
bool SparseLDLSolver<TMatrix,TVector>::readFile(std::istream& in) {
std::cout << "Read SparseLDLSolver" << std::endl;
std::string s = "SparseLDLSolver\n";
//in >> ss;
in >> s;
if (s.compare("SparseLDLSolver\n")) {
std::cout << "File not contain a SparseLDLSolver" << std::endl;
return false;
}
in >> n;
in >> A_x;
in >> A_i;
in >> A_p;
in >> D;
in >> Parent;
in >> Lnz;
in >> Flag;
in >> Pattern;
in >> Lp;
in >> Lx;
in >> Li;
return true;
}
template<class TMatrix, class TVector>
bool SparseLDLSolver<TMatrix,TVector>::writeFile(std::ostream& out) {
std::cout << "Write SparseLDLSolver" << std::endl;
std::string s = "SparseLDLSolver\n";
out << s;
out << n;
out << A_x;
out << A_i;
out << A_p;
out << D;
out << Y;
out << Parent;
out << Lnz;
out << Flag;
out << Pattern;
out << Lp;
out << Lx;
out << Li;
return true;
}
SOFA_DECL_CLASS(SparseLDLSolver)
int SparseLDLSolverClass = core::RegisterObject("Linear system solver using the conjugate gradient iterative algorithm")
.add< SparseLDLSolver< CompressedRowSparseMatrix<double>,FullVector<double> > >(true)
.addAlias("SparseLDLSolverAlias")
;
} // namespace linearsolver
} // namespace component
} // namespace sofa
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