void KinsolSolver::initialize(ComputeSystemFunction pComputeSystem,
double *pParameters, int pSize, void *pUserData)
{
if (mSolver)
// The solver has already been initialised, so reset things...
reset();
// Initialise the ODE solver itself
OpenCOR::CoreSolver::CoreNlaSolver::initialize(pComputeSystem, pParameters, pSize);
// Create some vectors
mParametersVector = N_VMake_Serial(pSize, pParameters);
mOnesVector = N_VNew_Serial(pSize);
N_VConst(1.0, mOnesVector);
// Create the KINSOL solver
mSolver = KINCreate();
// Use our own error handler
KINSetErrHandlerFn(mSolver, errorHandler, this);
// Initialise the KINSOL solver
KINInit(mSolver, systemFunction, mParametersVector);
// Set some user data
mUserData = new KinsolSolverUserData(pUserData, pComputeSystem);
KINSetUserData(mSolver, mUserData);
// Set the linear solver
KINDense(mSolver, pSize);
}
int nlsKinsolAllocate(int size, NONLINEAR_SYSTEM_DATA *nlsData, int linearSolverMethod)
{
int i, flag, printLevel;
NLS_KINSOL_DATA *kinsolData = (NLS_KINSOL_DATA*) malloc(sizeof(NLS_KINSOL_DATA));
/* allocate system data */
nlsData->solverData = (void*)kinsolData;
kinsolData->size = size;
kinsolData->linearSolverMethod = linearSolverMethod;
kinsolData->solved = 0;
kinsolData->fnormtol = sqrt(newtonFTol); /* function tolerance */
kinsolData->scsteptol = sqrt(newtonXTol); /* step tolerance */
kinsolData->initialGuess = N_VNew_Serial(size);
kinsolData->xScale = N_VNew_Serial(size);
kinsolData->fScale = N_VNew_Serial(size);
kinsolData->fRes = N_VNew_Serial(size);
kinsolData->kinsolMemory = KINCreate();
/* setup user defined functions */
KINSetErrHandlerFn(kinsolData->kinsolMemory, nlsKinsolErrorPrint, kinsolData);
KINSetInfoHandlerFn(kinsolData->kinsolMemory, nlsKinsolInfoPrint, kinsolData);
KINSetUserData(kinsolData->kinsolMemory, (void*)&(kinsolData->userData));
flag = KINInit(kinsolData->kinsolMemory, nlsKinsolResiduals, kinsolData->initialGuess);
if (checkReturnFlag(flag)){
errorStreamPrint(LOG_STDOUT, 0, "##KINSOL## Something goes wrong while initialize KINSOL solver!");
}
/* Specify linear solver and/or corresponding jacobian function*/
if (kinsolData->linearSolverMethod == 3)
{
if(nlsData->isPatternAvailable)
{
kinsolData->nnz = nlsData->sparsePattern.numberOfNoneZeros;
flag = KINKLU(kinsolData->kinsolMemory, size, kinsolData->nnz);
if (checkReturnFlag(flag)){
errorStreamPrint(LOG_STDOUT, 0, "##KINSOL## Something goes wrong while initialize KINSOL solver!");
}
flag = KINSlsSetSparseJacFn(kinsolData->kinsolMemory, nlsSparseJac);
if (checkReturnFlag(flag)){
errorStreamPrint(LOG_STDOUT, 0, "##KINSOL## Something goes wrong while initialize KINSOL Sparse Solver!");
}
}
else
{
flag = KINDense(kinsolData->kinsolMemory, size);
if (checkReturnFlag(flag)){
errorStreamPrint(LOG_STDOUT, 0, "##KINSOL## Something goes wrong while initialize KINSOL solver!");
}
}
}
else if (kinsolData->linearSolverMethod == 1)
{
flag = KINDense(kinsolData->kinsolMemory, size);
if (checkReturnFlag(flag)){
errorStreamPrint(LOG_STDOUT, 0, "##KINSOL## Something goes wrong while initialize KINSOL solver!");
}
}
else if (kinsolData->linearSolverMethod == 2)
{
flag = KINDense(kinsolData->kinsolMemory, size);
if (checkReturnFlag(flag)){
errorStreamPrint(LOG_STDOUT, 0, "##KINSOL## Something goes wrong while initialize KINSOL solver!");
}
flag = KINDlsSetDenseJacFn(kinsolData->kinsolMemory, nlsDenseJac);
if (checkReturnFlag(flag)){
errorStreamPrint(LOG_STDOUT, 0, "##KINSOL## Something goes wrong while initialize KINSOL Sparse Solver!");
}
}
/* configuration */
nlsKinsolConfigSetup(kinsolData);
/* debug print level of kinsol */
if (ACTIVE_STREAM(LOG_NLS))
printLevel = 1;
else if (ACTIVE_STREAM(LOG_NLS_V))
printLevel = 3;
else
printLevel = 0;
KINSetPrintLevel(kinsolData->kinsolMemory, printLevel);
return 0;
}
/*! \fn kinsol_initialization
*
* \param [ref] [data]
* \param [in] [initData]
* \param [ref] [initialResiduals]
*
* \author lochel
*/
int kinsol_initialization(DATA* data, INIT_DATA* initData, int useScaling)
{
long i, indz;
KINSOL_DATA* kdata = NULL;
double fnormtol = 1.e-9; /* function tolerance */
double scsteptol = 1.e-9; /* step tolerance */
long int nni, nfe, nje, nfeD;
N_Vector z = NULL;
N_Vector sVars = NULL;
N_Vector sEqns = NULL;
N_Vector c = NULL;
int glstr = KIN_NONE; /* globalization strategy applied to the Newton method. It must be one of KIN_NONE or KIN_LINESEARCH */
long int mset = 1; /* maximum number of nonlinear iterations without a call to the preconditioner setup function. Pass 0 to indicate the default [10]. */
void *kmem = NULL;
int error_code = -1;
ASSERT(data->modelData.nInitResiduals == initData->nz, "The number of initial equations are not consistent with the number of unfixed variables. Select a different initialization.");
do /* Try it first with KIN_NONE. If that fails, try it with KIN_LINESEARCH. */
{
if(mset == 1 && glstr == KIN_NONE)
DEBUG_INFO(LOG_INIT, "using exact Newton");
else if(mset == 1)
DEBUG_INFO(LOG_INIT, "using exact Newton with line search");
else if(glstr == KIN_NONE)
DEBUG_INFO(LOG_INIT, "using modified Newton");
else
DEBUG_INFO(LOG_INIT, "using modified Newton with line search");
DEBUG_INFO_AL1(LOG_INIT, "| mset = %10ld", mset);
DEBUG_INFO_AL1(LOG_INIT, "| function tolerance = %10.6g", fnormtol);
DEBUG_INFO_AL1(LOG_INIT, "| step tolerance = %10.6g", scsteptol);
kdata = (KINSOL_DATA*)malloc(sizeof(KINSOL_DATA));
ASSERT(kdata, "out of memory");
kdata->initData = initData;
kdata->data = data;
z = N_VNew_Serial(3*initData->nz);
ASSERT(z, "out of memory");
sVars = N_VNew_Serial(3*initData->nz);
ASSERT(sVars, "out of memory");
sEqns = N_VNew_Serial(3*initData->nz);
ASSERT(sEqns, "out of memory");
c = N_VNew_Serial(3*initData->nz);
ASSERT(c, "out of memory");
/* initial guess */
for(i=0; i<initData->nz; ++i)
{
NV_Ith_S(z, i) = initData->start[i];
NV_Ith_S(z, initData->nInitResiduals+2*i+0) = NV_Ith_S(z, i) - initData->min[i];
NV_Ith_S(z, initData->nInitResiduals+2*i+1) = NV_Ith_S(z, i) - initData->max[i];
}
kdata->useScaling=useScaling;
if(useScaling)
{
computeInitialResidualScalingCoefficients(data, initData);
for(i=0; i<initData->nz; ++i)
{
NV_Ith_S(sVars, i) = 1.0 / (initData->nominal[i] == 0.0 ? 1.0 : initData->nominal[i]);
NV_Ith_S(sVars, initData->nInitResiduals+2*i+0) = NV_Ith_S(sVars, i);
NV_Ith_S(sVars, initData->nInitResiduals+2*i+1) = NV_Ith_S(sVars, i);
NV_Ith_S(sEqns, i) = 1.0 / (initData->residualScalingCoefficients[i] == 0.0 ? 1.0 : initData->residualScalingCoefficients[i]);
NV_Ith_S(sEqns, initData->nInitResiduals+2*i+0) = NV_Ith_S(sEqns, i);
NV_Ith_S(sEqns, initData->nInitResiduals+2*i+1) = NV_Ith_S(sEqns, i);
}
}
else
{
N_VConst_Serial(1.0, sVars); /* no scaling */
N_VConst_Serial(1.0, sEqns); /* no scaling */
}
for(i=0; i<initData->nz; ++i)
{
NV_Ith_S(c, i) = 0.0; /* no constraint on z[i] */
NV_Ith_S(c, initData->nInitResiduals+2*i+0) = 1.0;
NV_Ith_S(c, initData->nInitResiduals+2*i+1) = -1.0;
}
kmem = KINCreate();
ASSERT(kmem, "out of memory");
KINSetErrHandlerFn(kmem, kinsol_errorHandler, NULL);
KINSetUserData(kmem, kdata);
KINSetConstraints(kmem, c);
KINSetFuncNormTol(kmem, fnormtol);
KINSetScaledStepTol(kmem, scsteptol);
KINInit(kmem, kinsol_residuals, z);
/* Call KINDense to specify the linear solver */
KINDense(kmem, 3*initData->nz);
KINSetMaxSetupCalls(kmem, mset);
/*KINSetNumMaxIters(kmem, 2000);*/
globalInitialResiduals = initData->initialResiduals;
error_code = KINSol(kmem, /* KINSol memory block */
z, /* initial guess on input; solution vector */
glstr, /* global stragegy choice */
sVars, /* scaling vector, for the variable cc */
sEqns); /* scaling vector for function values fval */
globalInitialResiduals = NULL;
KINGetNumNonlinSolvIters(kmem, &nni);
KINGetNumFuncEvals(kmem, &nfe);
KINDlsGetNumJacEvals(kmem, &nje);
KINDlsGetNumFuncEvals(kmem, &nfeD);
DEBUG_INFO(LOG_INIT, "final kinsol statistics");
DEBUG_INFO_AL1(LOG_INIT, "| KINGetNumNonlinSolvIters = %5ld", nni);
DEBUG_INFO_AL1(LOG_INIT, "| KINGetNumFuncEvals = %5ld", nfe);
DEBUG_INFO_AL1(LOG_INIT, "| KINDlsGetNumJacEvals = %5ld", nje);
DEBUG_INFO_AL1(LOG_INIT, "| KINDlsGetNumFuncEvals = %5ld", nfeD);
/* Free memory */
N_VDestroy_Serial(z);
N_VDestroy_Serial(sVars);
N_VDestroy_Serial(sEqns);
N_VDestroy_Serial(c);
KINFree(&kmem);
free(kdata);
if(error_code < 0)
glstr++; /* try next globalization strategy */
}while(error_code < 0 && glstr <= KIN_LINESEARCH);
/* debug output */
indz = 0;
DEBUG_INFO(LOG_INIT, "solution");
for(i=0; i<data->modelData.nStates; ++i)
if(data->modelData.realVarsData[i].attribute.fixed==0)
DEBUG_INFO_AL2(LOG_INIT, "| %s = %g", initData->name[indz++], data->localData[0]->realVars[i]);
for(i=0; i<data->modelData.nParametersReal; ++i)
if(data->modelData.realParameterData[i].attribute.fixed == 0)
DEBUG_INFO_AL2(LOG_INIT, "| %s = %g", initData->name[indz++], data->simulationInfo.realParameter[i]);
if(error_code < 0)
THROW("kinsol failed. see last warning. use [-lv LOG_INIT] for more output.");
return 0;
}
static void KIM_Malloc(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
int status;
mxArray *mx_in[3], *mx_out[2];
int mxiter, msbset, msbsetsub, etachoice, mxnbcf;
double eta, egamma, ealpha, mxnewtstep, relfunc, fnormtol, scsteptol;
booleantype verbose, noInitSetup, noMinEps;
double *constraints;
N_Vector NVconstraints;
int ptype;
int mudq, mldq, mupper, mlower;
int maxl, maxrs;
double dqrely;
/*
* -----------------------------
* Find out the vector type and
* then pass it to the vector
* library.
* -----------------------------
*/
/* Send vec_type and mx_comm */
InitVectors();
/*
* -----------------------------
* Extract stuff from arguments:
* - SYS function
* - problem dimension
* - solver options
* - user data
* -----------------------------
*/
/* Matlab user-provided function */
mxDestroyArray(mx_SYSfct);
mx_SYSfct = mxDuplicateArray(prhs[0]);
/* problem dimension */
N = (int) mxGetScalar(prhs[1]);
/* Solver Options -- optional argument */
status = get_SolverOptions(prhs[2],
&verbose,
&mxiter, &msbset, &msbsetsub, &etachoice, &mxnbcf,
&eta, &egamma, &ealpha, &mxnewtstep,
&relfunc, &fnormtol, &scsteptol,
&constraints,
&noInitSetup, &noMinEps);
/* User data -- optional argument */
mxDestroyArray(mx_data);
mx_data = mxDuplicateArray(prhs[3]);
/*
* -----------------------------------------------------
* Set solution vector (used as a template to KINMAlloc)
* -----------------------------------------------------
*/
y = NewVector(N);
/*
* ----------------------------------------
* Create kinsol object and allocate memory
* ----------------------------------------
*/
kin_mem = KINCreate();
/* attach error handler function */
status = KINSetErrHandlerFn(kin_mem, mtlb_KINErrHandler, NULL);
if (verbose) {
status = KINSetPrintLevel(kin_mem,3);
/* attach info handler function */
status = KINSetInfoHandlerFn(kin_mem, mtlb_KINInfoHandler, NULL);
/* initialize the output window */
mx_in[0] = mxCreateScalarDouble(0);
mx_in[1] = mxCreateScalarDouble(0); /* ignored */
mx_in[2] = mxCreateScalarDouble(0); /* ignored */
mexCallMATLAB(1,mx_out,3,mx_in,"kim_info");
fig_handle = (int)*mxGetPr(mx_out[0]);
}
/* Call KINMalloc */
status = KINMalloc(kin_mem, mtlb_KINSys, y);
/* Redirect output */
status = KINSetErrFile(kin_mem, stdout);
/* Optional inputs */
status = KINSetNumMaxIters(kin_mem,mxiter);
status = KINSetNoInitSetup(kin_mem,noInitSetup);
status = KINSetNoMinEps(kin_mem,noMinEps);
status = KINSetMaxSetupCalls(kin_mem,msbset);
status = KINSetMaxSubSetupCalls(kin_mem,msbsetsub);
status = KINSetMaxBetaFails(kin_mem,mxnbcf);
status = KINSetEtaForm(kin_mem,etachoice);
status = KINSetEtaConstValue(kin_mem,eta);
status = KINSetEtaParams(kin_mem,egamma,ealpha);
status = KINSetMaxNewtonStep(kin_mem,mxnewtstep);
status = KINSetRelErrFunc(kin_mem,relfunc);
status = KINSetFuncNormTol(kin_mem,fnormtol);
status = KINSetScaledStepTol(kin_mem,scsteptol);
if (constraints != NULL) {
NVconstraints = N_VCloneEmpty(y);
N_VSetArrayPointer(constraints, NVconstraints);
status = KINSetConstraints(kin_mem,NVconstraints);
N_VDestroy(NVconstraints);
}
status = get_LinSolvOptions(prhs[2],
&mupper, &mlower,
&mudq, &mldq, &dqrely,
&ptype, &maxrs, &maxl);
switch (ls) {
case LS_NONE:
mexErrMsgTxt("KINMalloc:: no linear solver specified.");
break;
case LS_DENSE:
status = KINDense(kin_mem, N);
if (!mxIsEmpty(mx_JACfct))
status = KINDenseSetJacFn(kin_mem, mtlb_KINDenseJac, NULL);
break;
case LS_BAND:
status = KINBand(kin_mem, N, mupper, mlower);
if (!mxIsEmpty(mx_JACfct))
status = KINBandSetJacFn(kin_mem, mtlb_KINBandJac, NULL);
break;
case LS_SPGMR:
switch(pm) {
case PM_NONE:
status = KINSpgmr(kin_mem, maxl);
if (!mxIsEmpty(mx_PSOLfct)) {
if (!mxIsEmpty(mx_PSETfct))
status = KINSpilsSetPreconditioner(kin_mem, mtlb_KINSpilsPset, mtlb_KINSpilsPsol, NULL);
else
status = KINSpilsSetPreconditioner(kin_mem, NULL, mtlb_KINSpilsPsol, NULL);
}
break;
case PM_BBDPRE:
if (!mxIsEmpty(mx_GCOMfct))
bbd_data = KINBBDPrecAlloc(kin_mem, N, mudq, mldq, mupper, mlower, dqrely, mtlb_KINGloc, mtlb_KINGcom);
else
bbd_data = KINBBDPrecAlloc(kin_mem, N, mudq, mldq, mupper, mlower, dqrely, mtlb_KINGloc, NULL);
status = KINBBDSpgmr(kin_mem, maxl, bbd_data);
break;
}
status = KINSpilsSetMaxRestarts(kin_mem, maxrs);
if (!mxIsEmpty(mx_JACfct))
status = KINSpilsSetJacTimesVecFn(kin_mem, mtlb_KINSpilsJac, NULL);
break;
case LS_SPBCG:
switch(pm) {
case PM_NONE:
status = KINSpbcg(kin_mem, maxl);
if (!mxIsEmpty(mx_PSOLfct)) {
if (!mxIsEmpty(mx_PSETfct))
status = KINSpilsSetPreconditioner(kin_mem, mtlb_KINSpilsPset, mtlb_KINSpilsPsol, NULL);
else
status = KINSpilsSetPreconditioner(kin_mem, NULL, mtlb_KINSpilsPsol, NULL);
}
break;
case PM_BBDPRE:
if (!mxIsEmpty(mx_GCOMfct))
bbd_data = KINBBDPrecAlloc(kin_mem, N, mudq, mldq, mupper, mlower, dqrely, mtlb_KINGloc, mtlb_KINGcom);
else
bbd_data = KINBBDPrecAlloc(kin_mem, N, mudq, mldq, mupper, mlower, dqrely, mtlb_KINGloc, NULL);
status = KINBBDSpbcg(kin_mem, maxl, bbd_data);
break;
}
if (!mxIsEmpty(mx_JACfct))
status = KINSpilsSetJacTimesVecFn(kin_mem, mtlb_KINSpilsJac, NULL);
break;
case LS_SPTFQMR:
switch(pm) {
case PM_NONE:
status = KINSptfqmr(kin_mem, maxl);
if (!mxIsEmpty(mx_PSOLfct)) {
if (!mxIsEmpty(mx_PSETfct))
status = KINSpilsSetPreconditioner(kin_mem, mtlb_KINSpilsPset, mtlb_KINSpilsPsol, NULL);
else
status = KINSpilsSetPreconditioner(kin_mem, NULL, mtlb_KINSpilsPsol, NULL);
}
break;
case PM_BBDPRE:
if (!mxIsEmpty(mx_GCOMfct))
bbd_data = KINBBDPrecAlloc(kin_mem, N, mudq, mldq, mupper, mlower, dqrely, mtlb_KINGloc, mtlb_KINGcom);
else
bbd_data = KINBBDPrecAlloc(kin_mem, N, mudq, mldq, mupper, mlower, dqrely, mtlb_KINGloc, NULL);
status = KINBBDSptfqmr(kin_mem, maxl, bbd_data);
break;
}
if (!mxIsEmpty(mx_JACfct))
status = KINSpilsSetJacTimesVecFn(kin_mem, mtlb_KINSpilsJac, NULL);
break;
}
return;
}
