// -------------------------------------------------------------------------------------------------
// OperatorList::check(StateVector sv)
//
// Use: Check the operator list for consitency
// Input: StateVector sv - the spin configuration
// Output: bool - true if ok, false if not
// -------------------------------------------------------------------------------------------------
bool OperatorList::check(StateVector sv)
{
// Check that no diagonal or off-diagonal operator acts
// on two parallel spins
int N = sv.getSize();
int L = getSize();
for (int i = 0; i < L; i++) {
int op = list->operators[i].op;
int spin1 = list->operators[i].spin;
int spin2 = spin1 + 1;
if (spin2 > (N - 1))
spin2 = 0;
if ((op > 0) && (sv(spin1) == sv(spin2))) {
cout << "Error: Operating on parallel spins!!" << endl;
cout << "operator " << op << " on " << spin1 << "," << spin2;
cout << " in " << sv << endl;
cout << (*this) << endl;
return false;
}
if (op == 2) {
sv.flip(spin1);
sv.flip(spin2);
}
}
return true;
}
/**
* Copy constructor.
*/
StateVector::StateVector(const StateVector &aVector) :
_data(0.0)
{
// INITIAL VALUES
setNull();
// SET STATES
setStates(aVector.getTime(),aVector.getSize(),&aVector.getData()[0]);
}
// -------------------------------------------------------------------------------------------------
// OperatorList::diagonalMove(StateVector& sv, double beta)
//
// Use: Performs a diagonal update on the operator list
// Input: StateVector& sv - the spin configuration
// double beta - the inverse temperature
// Output: none
// -------------------------------------------------------------------------------------------------
void OperatorList::diagonalUpdate(StateVector& sv, double beta)
{
int N = sv.getSize(); // Number of spins
int L = getSize(); // Operator list length
for (int i = 0; i < L; i++) {
int n = countDOD(); // Number of diagonal and off-diagonal operators
int op = list->operators[i].op;
if (op == 0) {
// unit operator
// Calculate probability to change operator
double P = (double)(N*beta/(2*(L-n)));
// Generate a random spin that this operator acts on
int spin1 = (int)(ran()*N);
// and its adjacent spin
int spin2 = (spin1 + 1) % N;
// Change operator to diagonal only if the spins are _not_ parallel...
if (sv(spin1) != sv(spin2)) {
// ...and with probability P
double r = ran();
if (r < P) {
//cout << "Change..." << endl;
list->operators[i].op = 1;
list->operators[i].spin = spin1;
}
}
} else if (op == 1) {
// diagonal operator
// Calculate probability to change to unit operator
double P = (double)(2*(L-n+1)/(N*beta));
double r = ran();
// Get the spins this off-diagonal operator acts on
int spin1 = list->operators[i].spin;
int spin2 = (spin1 + 1) % N;
if (r < P) {
list->operators[i].op = 0;
// unit ops cannot act on spins
list->operators[i].spin = -1;
}
} else if (op == 2) {
// off-diagonal operator
// Get the spins this off-diagonal operator acts on
int spin1 = list->operators[i].spin;
int spin2 = (spin1 + 1) % N;
// Flip both spins
sv.flip(spin1);
sv.flip(spin2);
}
}
}
void testGait2354()
{
ForwardTool forward("subject01_Setup_Forward.xml");
forward.run();
Storage results("Results/subject01_states.sto");
Storage* standard = new Storage();
string statesFileName("std_subject01_walk1_states.sto");
forward.loadStatesStorage( statesFileName, standard );
Array<double> data;
StateVector* state = results.getStateVector(0);
double time = state->getTime();
data.setSize(state->getSize());
standard->getDataAtTime(time, state->getSize(), data);
// At initial time all states should be identical except for locked joints may vary slightly due to
// differences in OpenSim's integrator and SimTK's
int nc = forward.getModel().getNumCoordinates();
for (int j = 0; j < state->getSize(); ++j) {
stringstream message;
message << "t=" << time <<" state# "<< j << " " << standard->getColumnLabels()[j+1] << " std=" << data[j] <<" computed=" << state->getData()[j];
ASSERT_EQUAL(data[j], state->getData()[j], 1e-4, __FILE__, __LINE__, "ASSERT_EQUAL FAILED " + message.str());
cout << "ASSERT_EQUAL PASSED " << message.str() << endl;;
}
int i = results.getSize()-1;
state = results.getStateVector(i);
time = state->getTime();
standard->getDataAtTime(time, state->getSize(), data);
// NOTE: Gait model is running forward open-loop. We cannot expect all the states to
// be "bang on" and we expect a gradual drift in the coordinates. Check to see that
// coordinates haven't drifted too far off.
for (int j = 0; j < nc; ++j) {
stringstream message;
message << "t=" << time <<" state# "<< j << " " << standard->getColumnLabels()[j+1] << " std=" << data[j] <<" computed=" << state->getData()[j];
ASSERT_EQUAL(data[j], state->getData()[j], 4e-2, __FILE__, __LINE__, "ASSERT_EQUAL FAILED " + message.str());
cout << "ASSERT_EQUAL PASSED " << message.str() << endl;
}
}
void testArm26() {
ForwardTool forward("arm26_Setup_Forward.xml");
forward.run();
Storage results("Results/arm26_states.sto");
Storage* standard = new Storage();
string statesFileName("std_arm26_states.sto");
forward.loadStatesStorage( statesFileName, standard );
StateVector* state = results.getStateVector(0);
double time = state->getTime();
Array<double> data;
data.setSize(state->getSize());
standard->getDataAtTime(time, state->getSize(), data);
for (int j = 0; j < state->getSize(); ++j) {
stringstream message;
message << "t=" << time <<" state# "<< j << " " << standard->getColumnLabels()[j+1] << " std=" << data[j] <<" computed=" << state->getData()[j] << endl;
ASSERT_EQUAL(data[j], state->getData()[j], 1.0e-3, __FILE__, __LINE__, "ASSERT_EQUAL FAILED " + message.str());
cout << "ASSERT_EQUAL PASSED " << message.str();
}
int i = results.getSize()-1;
state = results.getStateVector(i);
time = state->getTime();
data.setSize(state->getSize());
standard->getDataAtTime(time, state->getSize(), data);
for (int j = 0; j < state->getSize(); ++j) {
stringstream message;
message << "t=" << time <<" state# "<< j << " " << standard->getColumnLabels()[j+1] << " std=" << data[j] <<" computed=" << state->getData()[j] << endl;
ASSERT_EQUAL(data[j], state->getData()[j], 1.0e-3, __FILE__, __LINE__, "ASSERT_EQUAL FAILED " + message.str());
cout << "ASSERT_EQUAL PASSED " << message.str();
}
}
void testGait2354WithController() {
ForwardTool forward("subject01_Setup_Forward_Controller.xml");
forward.run();
Storage results("ResultsCorrectionController/subject01_states.sto");
Storage* standard = new Storage();
string statesFileName("std_subject01_walk1_states.sto");
forward.loadStatesStorage( statesFileName, standard );
Array<double> data;
int i = results.getSize() - 1;
StateVector* state = results.getStateVector(i);
double time = state->getTime();
data.setSize(state->getSize());
standard->getDataAtTime(time, state->getSize(), data);
int nc = forward.getModel().getNumCoordinates();
for (int j = 0; j < nc; ++j) {
stringstream message;
message << "t=" << time <<" state# "<< j << " " << standard->getColumnLabels()[j+1] << " std=" << data[j] <<" computed=" << state->getData()[j];
ASSERT_EQUAL(data[j], state->getData()[j], 1e-2, __FILE__, __LINE__, "ASSERT_EQUAL FAILED " + message.str());
cout << "ASSERT_EQUAL PASSED " << message.str() << endl;
}
}
void testPendulumExternalLoadWithPointInGround() {
ForwardTool forward("pendulum_ext_point_in_ground_Setup_Forward.xml");cout << endl;
forward.run();
Storage results("Results/pendulum_ext_gravity_point_in_ground_states.sto");
ASSERT(results.getFirstTime() == 0.0);
ASSERT(results.getLastTime() == 1.0);
Storage standard("Results/pendulum_states.sto");
Array<double> data;
int i = results.getSize() - 1;
StateVector* state = results.getStateVector(i);
double time = state->getTime();
data.setSize(state->getSize());
standard.getDataAtTime(time, state->getSize(), data);
int nc = forward.getModel().getNumCoordinates();
for (int j = 0; j < nc; ++j) {
stringstream message;
message << "t=" << time <<" state# "<< j << " " << standard.getColumnLabels()[j+1] << " std=" << data[j] <<" computed=" << state->getData()[j];
ASSERT_EQUAL(data[j], state->getData()[j], 1e-2, __FILE__, __LINE__, "ASSERT_EQUAL FAILED " + message.str());
cout << "ASSERT_EQUAL PASSED " << message.str() << endl;
}
}
// -------------------------------------------------------------------------------------------------
// OperatorList::display(StateVector sv)
//
// Use: Output a text visualisation of the operator list
// Input: StateVector sv - the spin configuration
// Output: none
// -------------------------------------------------------------------------------------------------
void OperatorList::display(StateVector sv)
{
int N = sv.getSize();
int L = getSize();
const char* spins[2] = {"U", "D"};
const char* ops[3] = {" ", "-", "="};
for (int i = 0; i < L; i++) {
cout << " ";
for (int j = 0; j < N; j++)
cout << spins[sv(j)] << " ";
cout << " (" << i << ")" << endl;
int op = list->operators[i].op;
if (op == 0)
cout << endl;
else {
int spin1 = list->operators[i].spin;
int spin2 = spin1 + 1;
if (spin2 > (N - 1))
spin2 = 0;
if (spin2 == 0) {
cout << " " << ops[op];
for (int k = 0; k < (2*N - 3); k++)
cout << " ";
cout << ops[op] << endl;
} else {
for (int k = 0; k < (2*spin1 + 1); k++)
cout << " ";
for (int k = 0; k < 3; k++)
cout << ops[op];
cout << endl;
}
// flip spins if off diagonal operator
if (op == 2) {
sv.flip(spin1);
sv.flip(spin2);
}
}
}
cout << " ";
for (int j = 0; j < N; j++)
cout << spins[sv(j)] << " ";
cout << endl << endl << endl;
}
// -------------------------------------------------------------------------------------------------
// OperatorList::loopUpdate(StateVector& sv, double beta)
//
// Use: Performs a loop cluster update on the operator list
// Input: StateVector& sv - the spin configuration
// double beta - the inverse temperature
// Output: none
// -------------------------------------------------------------------------------------------------
void OperatorList::loopUpdate(StateVector& sv, double beta)
{
int N = sv.getSize(); // Number of spins
int L = getSize(); // Operator list length
int noDOD = countDOD();
if (noDOD > 0) {
// j is the operator loop index
int j;
// Select a random non-unit operator...
do {
j = (int)(ran()*L);
if (j > (L - 1))
j = L - 1;
} while (list->operators[j].op == 0);
// i is the state loop index
int i = j;
// direction = -1 : backward direction
// direction = 1 : forward direction
int direction = 1;
int loops = 0;
int spin = list->operators[j].spin;
int startop = j;
int startstate = i;
int startspin = spin;
int spin1 = spin;
int spin2 = (spin1 + 1) % N;
// change this operator from diagonal to off-diagonal and vice versa...
changeOp(j);
// this is the actual loop update
do {
if (loops > 0) {
// Break the loop when we return to the starting operator
if ((i == startstate) &&(j == startop))
if (spin == startspin) {
changeOp(j);
break;
} else if ((spin - 1) == startspin)
break;
}
j += direction;
// we use periodic boundary conditions
if (j < 0) {
j = L - 1;
sv.flip(spin);
}
if (j > (L - 1)) {
j = 0;
sv.flip(spin);
}
int op = list->operators[j].op;
spin1 = list->operators[j].spin;
spin2 = (spin1 + 1) % N;
if (op == 0) {
// in case of a unit operator just update state index
i += direction;
if (i < 0) i = L - 1;
if (i > (L-1)) i = 0;
} else {
// diagonal or off-diagonal operator
if ((spin != spin1) && (spin != spin2)) {
i += direction;
if (i < 0) i = L - 1;
if (i > (L-1)) i = 0;
} else if (spin == spin1) {
spin++;
if (spin > (N - 1))
spin = 0;
direction *= -1;
changeOp(j);
} else if (spin == spin2) {
spin--;
if (spin < 0)
spin = N - 1;
direction *= -1;
changeOp(j);
}
}
loops = 1;
} while(true);
}
}