void WorldSQP::initializeClosedLoopStepper(World* start, vector<vector<World*> >& target) {
VectorXd state;
world_to_state(start, state);
resize_controller(target[0].size() + 1, state.size(), target.size());
current_states.resize(target.size());
current_jacobians.resize(target.size());
current_controls.resize(target[0].size());
#pragma omp parallel for
for (int i = 0; i < target.size(); i++) {
current_states[i].resize(target[i].size());
current_jacobians[i].resize(target[i].size());
for (int j = 0; j < target[i].size(); j++) {
current_states[i][j] = new World(*target[i][j]);
current_jacobians[i][j] = MatrixXd();
}
}
for (int k = 0; k < target[0].size(); k++) {
current_controls[k].resize(2);
for (int j = 0; j < 2; j++) { //hack
current_controls[k][j] = new Control();
}
}
pushStart(start);
}
void WorldSQP::pushStart(World* state) {
#if COLOCATION_METHOD
vector<World*> start_states;
for (int i = 0; i < current_states.size(); i++) {
start_states.push_back(state); //other method handles memory
}
pushStart(start_states);
#else
assert(false);
#endif
}
int
main(int argc, char *argv[]) {
char *me, *err;
hestOpt *hopt=NULL;
airArray *mop;
char *outS[3];
char *gravStr, *gravGradStr, *seedStr;
pushContext *pctx;
Nrrd *_nin, *nin, *nPosIn, *nPosOut, *nTenOut, *nEnrOut;
NrrdKernelSpec *ksp00, *ksp11, *ksp22;
pushEnergySpec *ensp;
int E;
me = argv[0];
mop = airMopNew();
pctx = pushContextNew();
airMopAdd(mop, pctx, (airMopper)pushContextNix, airMopAlways);
hestOptAdd(&hopt, "i", "nin", airTypeOther, 1, 1, &_nin, NULL,
"input volume to filter", NULL, NULL, nrrdHestNrrd);
hestOptAdd(&hopt, "np", "# points", airTypeUInt, 1, 1,
&(pctx->pointNum), "1000",
"number of points to use in simulation");
hestOptAdd(&hopt, "pi", "npos", airTypeOther, 1, 1, &nPosIn, "",
"positions to start at (overrides \"-np\")",
NULL, NULL, nrrdHestNrrd);
hestOptAdd(&hopt, "step", "step", airTypeDouble, 1, 1,
&(pctx->stepInitial), "1",
"step size for gradient descent");
hestOptAdd(&hopt, "scl", "scale", airTypeDouble, 1, 1,
&(pctx->scale), "1500",
"scaling from tensor size to glyph size");
hestOptAdd(&hopt, "wall", "wall", airTypeDouble, 1, 1,
&(pctx->wall), "0.0",
"spring constant of containing walls");
hestOptAdd(&hopt, "cnts", "scale", airTypeDouble, 1, 1,
&(pctx->cntScl), "0.0",
"scaling of containment force");
hestOptAdd(&hopt, "limit", "frac", airTypeDouble, 1, 1,
&(pctx->deltaLimit), "0.3",
"speed limit on particles' motion");
hestOptAdd(&hopt, "dfmin", "frac", airTypeDouble, 1, 1,
&(pctx->deltaFracMin), "0.2",
"decrease step size if deltaFrac goes below this");
hestOptAdd(&hopt, "esf", "frac", airTypeDouble, 1, 1,
&(pctx->energyStepFrac), "0.9",
"when energy goes up instead of down, fraction by "
"which to scale step size");
hestOptAdd(&hopt, "dfsf", "frac", airTypeDouble, 1, 1,
&(pctx->deltaFracStepFrac), "0.5",
"when deltaFrac goes below deltaFracMin, fraction by "
"which to scale step size");
hestOptAdd(&hopt, "eimin", "frac", airTypeDouble, 1, 1,
&(pctx->energyImprovMin), "0.01",
"convergence threshold: stop when fracional improvement "
"(decrease) in energy dips below this");
hestOptAdd(&hopt, "detr", NULL, airTypeBool, 0, 0,
&(pctx->detReject), NULL,
"do determinant-based rejection of initial sample locations");
hestOptAdd(&hopt, "rng", "seed", airTypeUInt, 1, 1,
&(pctx->seedRNG), "42",
"seed value for RNG which determines initial point locations");
hestOptAdd(&hopt, "nt", "# threads", airTypeUInt, 1, 1,
&(pctx->threadNum), "1",
"number of threads to run");
hestOptAdd(&hopt, "nprob", "# iters", airTypeDouble, 1, 1,
&(pctx->neighborTrueProb), "1.0",
"do full neighbor traversal with this probability");
hestOptAdd(&hopt, "pprob", "# iters", airTypeDouble, 1, 1,
&(pctx->probeProb), "1.0",
"do field probing with this probability");
hestOptAdd(&hopt, "maxi", "# iters", airTypeUInt, 1, 1,
&(pctx->maxIter), "0",
"if non-zero, max # iterations to run");
hestOptAdd(&hopt, "snap", "iters", airTypeUInt, 1, 1, &(pctx->snap), "0",
"if non-zero, # iterations between which a snapshot "
"is saved");
hestOptAdd(&hopt, "grv", "item", airTypeString, 1, 1, &gravStr, "none",
"item to act as gravity");
hestOptAdd(&hopt, "grvgv", "item", airTypeString, 1, 1, &gravGradStr, "none",
"item to act as gravity gradient");
hestOptAdd(&hopt, "grvs", "scale", airTypeDouble, 1, 1, &(pctx->gravScl),
"nan", "magnitude and scaling of gravity vector");
hestOptAdd(&hopt, "grvz", "scale", airTypeDouble, 1, 1, &(pctx->gravZero),
"nan", "height (WRT gravity) of zero potential energy");
hestOptAdd(&hopt, "seed", "item", airTypeString, 1, 1, &seedStr, "none",
"item to act as seed threshold");
hestOptAdd(&hopt, "seedth", "thresh", airTypeDouble, 1, 1,
&(pctx->seedThresh), "nan",
"seed threshold threshold");
hestOptAdd(&hopt, "energy", "spec", airTypeOther, 1, 1, &ensp, "cotan",
"specification of energy function to use",
NULL, NULL, pushHestEnergySpec);
hestOptAdd(&hopt, "nobin", NULL, airTypeBool, 0, 0,
&(pctx->binSingle), NULL,
"turn off spatial binning (which prevents multi-threading "
"from being useful), for debugging or speed-up measurement");
hestOptAdd(&hopt, "k00", "kernel", airTypeOther, 1, 1, &ksp00,
"tent", "kernel for tensor field sampling",
NULL, NULL, nrrdHestKernelSpec);
hestOptAdd(&hopt, "k11", "kernel", airTypeOther, 1, 1, &ksp11,
"fordif", "kernel for finding containment gradient from mask",
NULL, NULL, nrrdHestKernelSpec);
hestOptAdd(&hopt, "k22", "kernel", airTypeOther, 1, 1, &ksp22,
"cubicdd:1,0", "kernel for 2nd derivatives",
NULL, NULL, nrrdHestKernelSpec);
hestOptAdd(&hopt, "o", "nout", airTypeString, 3, 3, outS,
"p.nrrd t.nrrd e.nrrd",
"output files to save position and tensor info into");
hestParseOrDie(hopt, argc-1, argv+1, NULL,
me, info, AIR_TRUE, AIR_TRUE, AIR_TRUE);
airMopAdd(mop, hopt, (airMopper)hestOptFree, airMopAlways);
airMopAdd(mop, hopt, (airMopper)hestParseFree, airMopAlways);
nPosOut = nrrdNew();
airMopAdd(mop, nPosOut, (airMopper)nrrdNuke, airMopAlways);
nTenOut = nrrdNew();
airMopAdd(mop, nTenOut, (airMopper)nrrdNuke, airMopAlways);
nEnrOut = nrrdNew();
airMopAdd(mop, nEnrOut, (airMopper)nrrdNuke, airMopAlways);
if (3 == _nin->spaceDim && AIR_EXISTS(_nin->measurementFrame[0][0])) {
nin = nrrdNew();
airMopAdd(mop, nin, (airMopper)nrrdNuke, airMopAlways);
if (tenMeasurementFrameReduce(nin, _nin)) {
airMopAdd(mop, err = biffGetDone(TEN), airFree, airMopAlways);
fprintf(stderr, "%s: trouble undoing measurement frame:\n%s", me, err);
airMopError(mop);
exit(1);
}
} else {
nin = _nin;
}
pctx->nin = nin;
pctx->npos = nPosIn;
pctx->verbose = 0;
pctx->binIncr = 84; /* random small-ish value */
pushEnergySpecSet(pctx->ensp, ensp->energy, ensp->parm);
nrrdKernelSpecSet(pctx->ksp00, ksp00->kernel, ksp00->parm);
nrrdKernelSpecSet(pctx->ksp11, ksp11->kernel, ksp11->parm);
nrrdKernelSpecSet(pctx->ksp22, ksp22->kernel, ksp22->parm);
if (strcmp("none", gravStr)) {
pctx->gravItem = airEnumVal(tenGage, gravStr);
if (tenGageUnknown == pctx->gravItem) {
fprintf(stderr, "%s: couldn't parse \"%s\" as a %s (gravity)\n", me,
gravStr, tenGage->name);
airMopError(mop);
return 1;
}
pctx->gravGradItem = airEnumVal(tenGage, gravGradStr);
if (tenGageUnknown == pctx->gravGradItem) {
fprintf(stderr, "%s: couldn't parse \"%s\" as a %s (gravity grad)\n",
me, gravGradStr, tenGage->name);
airMopError(mop);
return 1;
}
} else {
pctx->gravItem = tenGageUnknown;
pctx->gravGradItem = tenGageUnknown;
pctx->gravZero = AIR_NAN;
pctx->gravScl = AIR_NAN;
}
if (strcmp("none", seedStr)) {
pctx->seedThreshItem = airEnumVal(tenGage, seedStr);
if (tenGageUnknown == pctx->seedThreshItem) {
fprintf(stderr, "%s: couldn't parse \"%s\" as a %s (seedthresh)\n", me,
seedStr, tenGage->name);
airMopError(mop);
return 1;
}
} else {
pctx->seedThreshItem = 0;
pctx->seedThresh = AIR_NAN;
}
E = 0;
if (!E) E |= pushStart(pctx);
if (!E) E |= pushRun(pctx);
if (!E) E |= pushOutputGet(nPosOut, nTenOut, nEnrOut, pctx);
if (!E) E |= pushFinish(pctx);
if (E) {
airMopAdd(mop, err = biffGetDone(PUSH), airFree, airMopAlways);
fprintf(stderr, "%s: trouble:\n%s\n", me, err);
airMopError(mop);
return 1;
}
fprintf(stderr, "%s: time for %d iterations= %g secs\n",
me, pctx->iter, pctx->timeRun);
if (nrrdSave(outS[0], nPosOut, NULL)
|| nrrdSave(outS[1], nTenOut, NULL)
|| nrrdSave(outS[2], nEnrOut, NULL)) {
airMopAdd(mop, err = biffGetDone(NRRD), airFree, airMopAlways);
fprintf(stderr, "%s: couldn't save output:\n%s\n", me, err);
airMopError(mop);
return 1;
}
airMopOkay(mop);
return 0;
}
void Pult::connects() {
connect(bnStart, SIGNAL(pressed()), this, SLOT(pushStart()));
connect(bnLeft, SIGNAL(pressed()), this, SLOT(pushLeft()));
connect(bnRight, SIGNAL(pressed()), this, SLOT(pushRight()));
}
