bool TpsOrderParameter::isTransitionPath(TpsTrajectory& trajectory)
{
if(hA(trajectory) && hB(trajectory)) {
return true;
}
else {
return false;
}
}
bool TpsOrderParameter::hBorHB(TpsTrajectory& traj)
{
if(_use_HB) {
return HB(traj);
}
else {
return hB(traj);
}
}
void testDeviceVector()
{
const int aSize = 64;
std::vector<int> hA(aSize), hB(aSize);
bolt::cl::device_vector<int> dA(aSize), dB(aSize);
for(int i=0; i<aSize; i++) {
hA[i] = hB[i] = dB[i] = dA[i] = i;
};
int hSum = std::inner_product(hA.begin(), hA.end(), hB.begin(), 1);
int sum = bolt::cl::inner_product( dA.begin(), dA.end(),
dB.begin(), 1, bolt::cl::plus<int>(), bolt::cl::multiplies<int>() );
};
bool TpsOrderParameter::HB(TpsTrajectory& traj)
{
int n = traj.getNumberOfTimeslices();
assert(n > 0);
TpsTrajectory* traj_clone = traj.clone();
traj_clone->setID(-10001);
traj_clone->copy(traj);
for (int i=0; i<n; i++) {
bool good = hB(*traj_clone);
if (good) {
delete traj_clone;
return true;
}
traj_clone->popBack();
}
delete traj_clone;
return false;
}
Vector UnconstrainedLocalSearch::conj_grad(const Vector& gk, const Matrix& Bk, const Vector& xk, const Vector& x_gcp, const IntervalVector& region, const BitSet& I) {
int hn = n-I.size(); // the restricted dimension
// cout << " [conj_grad] init x_gcp= " << x_gcp << endl;
if (hn==0) return x_gcp; // we are in a corner: nothing to do
// ====================== STEP 3.0 : Initialization ======================
Vector x=x_gcp; // next point, initialized to gcp
// gradient of the quadratic model on zk1
Vector r = -gk-Bk*(x-xk);
double eta = get_eta(gk,xk,region,I);
// Initialization of the conjuguate gradient restricted to the direction not(I[i])
Vector hp(hn); // the restricted conjugate direction
Vector hx(hn); // the restricted iterate
Vector hr(hn); // the restricted gradient
Vector hy(hn); // temporary vector
Matrix hB(hn,hn); // the restricted hessian matrix
IntervalVector hregion(hn); // the restricted region
// initialization of \hat{B}:
int p=0, q=0;
for (int i=0; i<n; i++) {
if (!I[i]) {
for (int j=0; j<n; j++) {
if (!I[j]) {
hB[p][q] = Bk[i][j];
q++;
}
}
p++;
q=0;
}
}
// initialization of \hat{r} and \hat{region}
p=0;
for (int i=0; i<n; i++) {
if (!I[i]) {
hregion[p] = region[i];
hr[p] = r[i];
hx[p] = x[i];
p++;
}
}
double rho1 = 1.0; // norm of the restricted gradient at the previous iterate
double rho2 = ::pow(hr.norm(),2); // norm of the restricted gradient
// ====================== STEP 3.1 : Test for the required accuracy in c.g. iteration ======================
bool cond = (rho2>::pow(eta,2));
try {
while (cond) {
// ====================== STEP 3.2 : Conjugate gradient recurrences ======================
// Update the restricted conjugate direction
// \hat{p} = \hat{r} +beta* \hat{p}
hp = hr + (rho2/rho1)*hp;
// Update the temporary vector
// \hat{y} = \hat{Bk}*\hat{p}
hy = hB*hp;
// cout << " [conj_grad] current hr=" << hr << endl;
// cout << " [conj_grad] current hp=" << hp << endl;
LineSearch ls(hregion,hx,hp,data,sigma);
double alpha1=ls.alpha_max();
// cout << " [conj_grad] alpha1=" << alpha1 << endl;
// first termination condition
// we check if the hessian is "positive definite for \hat{p}"
// otherwise the quadratic approximation is concave
// and the solution if on the border of the region
double aux = hp*hy;
if ( aux <= 0) {
cond = false;
hx = ls.endpoint();
}
else {
// second termination condition alpha2>alpha1
double alpha2 = rho2/aux;
if (alpha2>alpha1) {
cond = false;
hx = ls.endpoint();
}
else {
// otherwise update x, r=\hat{r}, hy=y, rho1 and rho2= \hat{r}*\hat{r}=r*r
hx += alpha2*hp;
ls.proj(hx);
hr -= alpha2*hy;
rho1 = rho2;
rho2 = hr*hr;
cond = (rho2>(::pow(eta,2)));
}
}
}
} catch(LineSearch::NullDirectionException&) {
}
// update of x
p=0;
for (int i=0; i<n; i++) {
if (!I[i]) {
x[i] = hx[p];
p++;
}
}
// cout << " [conj_grad] new x= " << x << endl;
return x;
}