MatrixXd MinEnFilter::integratePImplicit(const LieAlgebra & grad, const MatrixXd & Hessian) {
const double eps = 1e-8;
int dim = order * 6;
MatrixXd A(dim,dim);
MatrixXd D = MatrixXd::Zero(dim,dim);
MatrixXd Gamma = MatrixXd::Zero(dim,dim);
MatrixXd Id = MatrixXd::Identity(dim,dim);
LieAlgebra FG;
MatrixXd B(6,6);
MatrixXd C = invW;
// define function that applies a function to each row of a matrix
if (order == 1) {
A = -tildeGammaAst(grad.E);
// cout << "\n\n Matrix A: \n\n" << A << endl;
// cout << "\n\n tildeGamma(grad.E): \n\n" << tildeGamma(grad.E) << endl;
D = (tildeGamma(grad.E) + Hessian);
// cout << "\n\n Matrix D: \n\n" << D << endl;
} else if ( order>=2 ) {
Gamma.topLeftCorner(6,6) = tildeGammaAst(grad.E);
FG = MotionPrior(currG);
B = MEFcommon::adjoint(FG.E); // kronSE(FG.e.mat, eye(4)) - kronSE(eye(4),FG.e.mat);
A.topLeftCorner(6,6) = -B;
A.block(0, 5, dim-6 ,dim-6) = MatrixXd::Identity(dim-6,dim-6);
A = A-Gamma;
D.topLeftCorner(6,6) = tildeGamma(grad.E) + Hessian;
} else {
cerr << "Parameter order must be positive" << endl;
exit(1);
}
D = 0.5 * (D + D.transpose());
MatrixXd tildeQ = currP + delta * C;
MatrixXd tildeA = (delta * A - (1+delta*alpha)/2 * Id).transpose();
Eigen::LLT<MatrixXd> lltOfD(D);
MatrixXd cholD = lltOfD.matrixL();
MatrixXd tildeB = sqrt(delta)*cholD;
// solve algebraic Riccati equation to find solution of implicit Euler scheme, i.e.
return care(tildeA, tildeB, tildeQ);
}
//***********************************************************************
// main function for outputing the graph
//***********************************************************************
void EasyXmlDumper::dumpLimaData(std::ostream& os,
const LinguisticGraphVertex& begin,
const LinguisticGraphVertex& end,
const AnalysisGraph& anaGraph,
const AnalysisGraph& posGraph,
const AnnotationData& annotationData,
const SyntacticData& syntacticData,
const std::string& graphId,
std::vector< bool >& alreadyDumpedTokens,
std::map< LinguisticAnalysisStructure::Token*, uint64_t >& fullTokens,
std::string sentIdPrefix) const
{
DUMPERLOGINIT;
LDEBUG << "EasyXmlDumper:: dumpLimaData parameters: ";
LDEBUG << "EasyXmlDumper:: begin = " << begin;
LDEBUG << "EasyXmlDumper:: end = " << end;
LDEBUG << "EasyXmlDumper:: posgraph first vertex = " << posGraph.firstVertex();
LDEBUG << "EasyXmlDumper:: posgraph last vertex = " << posGraph.lastVertex();
LDEBUG << "EasyXmlDumper:: graphId = " << graphId;
LDEBUG << "EasyXmlDumper:: sentIdPrefix = " << sentIdPrefix;
// just in case we want to check alreadt dumped tokens' array
for (uint64_t i = 0; i<alreadyDumpedTokens.size(); i++)
{
if (alreadyDumpedTokens[i])
{
LDEBUG << "EasyXmlDumper:: already_dumped_tokens[" << i << "] =" << alreadyDumpedTokens[i];
}
}
std::string sentIdStr = sentIdPrefix;
if(find(m_sentIds.begin(), m_sentIds.end(), sentIdStr) != m_sentIds.end() || sentIdStr == "E" )
{
uint64_t sentIdsuffix = 0;
do{
sentIdsuffix++;
std::stringstream sentIdStream;
sentIdStream << sentIdPrefix << sentIdsuffix;
sentIdStr = sentIdStream.str();
}while(find(m_sentIds.begin(), m_sentIds.end(), sentIdStr) != m_sentIds.end());
}
LDEBUG << "EasyXmlDumper:: searching and extracting vertices and relations";
LinguisticGraph* anaGraphL = const_cast<LinguisticGraph*>(anaGraph.getGraph());
LinguisticGraph* posGraphL = const_cast<LinguisticGraph*>(posGraph.getGraph());
ConstituantAndRelationExtractor care(m_propertyCodeManager);
care.visitBoostGraph(begin,
end,
*anaGraphL,
*posGraphL,
annotationData,
syntacticData,
fullTokens,
alreadyDumpedTokens,
m_language);
LDEBUG << "EasyXmlDumper:: all found vertices and relations extracted";
care.replaceSEWithCompounds();
care.constructionDesRelationsEntrantes();
care.splitCompoundTenses();
care.constructionDesGroupes();
care.addLastFormsInGroups();
EasyDumper ed(care, m_typeMapping, m_srcTag, m_tgtTag, sentIdStr);
std::stringstream sentEasyStream;
ed.dump(sentEasyStream);
if(sentEasyStream.str().length() > 0)
{
// Makes object mutable for adding sentence ID
EasyXmlDumper* self = const_cast<EasyXmlDumper*>(this);
self->m_sentIds.push_back(sentIdStr);
os << "<E id=\"" << sentIdStr << "\">" << std::endl;
os << sentEasyStream.str();
os << "</E>" << std::endl;
}
}