void run_persistence( Complex & complex,
Cell_less & less,
Barcode & barcode,
Timer & timer,
const Tag tag){
typedef ctl::Filtration< Complex, Cell_less > Filtration;
//Boundary Operator
//NOTE: This is not a general purpose boundary operator.
//It works correctly only when successive
//boundaries are taken in a filtration order
//typedef typename Filtration::iterator Filtration_iterator;
typedef ctl::Filtration_boundary< Filtration> Filtration_boundary;
typedef typename Filtration::Term Filtration_term;
typedef typename Filtration_term::Coefficient Coefficient;
typedef typename ctl::Sparse_matrix< Coefficient> Sparse_matrix;
typedef typename ctl::Offset_map< typename Filtration::iterator> Offset_map;
typedef typename ctl::Sparse_matrix_map< Coefficient, Offset_map> Chain_map;
//produce a filtration
timer.start();
Filtration complex_filtration( complex);
Filtration_boundary filtration_boundary( complex_filtration);
timer.stop();
double complex_filtration_time = timer.elapsed();
//display some info
std::cout << "time to compute complex filtration (secs): "
<< complex_filtration_time << std::endl;
//begin instantiate our vector of cascades homology
Sparse_matrix R( complex.size());
Offset_map offset_map( complex_filtration.begin());
//we hand persistence a property map for genericity!
Chain_map R_map( R.begin(), offset_map);
timer.start();
auto times = ctl::persistence( complex_filtration.begin(),
complex_filtration.end(),
filtration_boundary,
R_map, false, offset_map);
timer.stop();
double boundary_map_build = times.first;
double complex_persistence = times.second;
std::cout << "initialize_cascade_data (complex): "
<< boundary_map_build << std::endl;
std::cout << "serial persistence (complex): "
<< complex_persistence << std::endl;
std::cout << "total time : " << timer.elapsed() << std::endl;
ctl::compute_barcodes( complex_filtration,
R_map, barcode, tag, true);
std::vector< std::size_t> bti;
compute_betti( complex_filtration, R_map, bti, true);
}
/*
Uses all of the information calculated so far to set up the various qpDUNES
datastructures in preparation for the feedback step.
This is really inefficient right now – there's heaps of probably unnecessary
copying going on.
*/
void OptimalControlProblem::initialise_qp() {
uint32_t i;
real_t Q[NMPC_DELTA_DIM*NMPC_DELTA_DIM];
Eigen::Map<StateWeightMatrix> Q_map(Q);
real_t R[NMPC_CONTROL_DIM*NMPC_CONTROL_DIM];
Eigen::Map<ControlWeightMatrix> R_map(R);
real_t P[NMPC_DELTA_DIM*NMPC_DELTA_DIM];
Eigen::Map<StateWeightMatrix> P_map(P);
real_t g[NMPC_GRADIENT_DIM];
Eigen::Map<GradientVector> g_map(g);
real_t C[(NMPC_STATE_DIM-1)*NMPC_GRADIENT_DIM];
Eigen::Map<ContinuityConstraintMatrix> C_map(C);
real_t c[NMPC_DELTA_DIM];
Eigen::Map<DeltaVector> c_map(c);
real_t zLow[NMPC_GRADIENT_DIM];
Eigen::Map<GradientVector> zLow_map(zLow);
real_t zUpp[NMPC_GRADIENT_DIM];
Eigen::Map<GradientVector> zUpp_map(zUpp);
zLow_map.segment<NMPC_DELTA_DIM>(0) = lower_state_bound;
zUpp_map.segment<NMPC_DELTA_DIM>(0) = upper_state_bound;
/* Set up problem dimensions. */
/* TODO: Determine number of affine constraints (D), and add them. */
qpDUNES_setup(
&qp_data,
OCP_HORIZON_LENGTH,
NMPC_DELTA_DIM,
NMPC_CONTROL_DIM,
0,
&qp_options);
return_t status_flag;
/* Gradient vector fixed to zero. */
g_map = GradientVector::Zero();
/* Continuity constraint constant term fixed to zero. */
c_map = DeltaVector::Zero();
/* Zero Jacobians for now */
C_map = ContinuityConstraintMatrix::Zero();
Q_map = state_weights;
R_map = control_weights;
/* Copy the relevant data into the qpDUNES arrays. */
zLow_map.segment<NMPC_CONTROL_DIM>(NMPC_DELTA_DIM) = lower_control_bound;
zUpp_map.segment<NMPC_CONTROL_DIM>(NMPC_DELTA_DIM) = upper_control_bound;
for(i = 0; i < OCP_HORIZON_LENGTH; i++) {
status_flag = qpDUNES_setupRegularInterval(
&qp_data, qp_data.intervals[i],
0, Q, R, 0, g, C, 0, 0, c, zLow, zUpp, 0, 0, 0, 0, 0, 0, 0);
AssertOK(status_flag);
}
/* Set up final interval. */
P_map = terminal_weights;
status_flag = qpDUNES_setupFinalInterval(&qp_data, qp_data.intervals[i],
P, g, zLow, zUpp, 0, 0, 0);
AssertOK(status_flag);
qpDUNES_setupAllLocalQPs(&qp_data, QPDUNES_FALSE);
qpDUNES_indicateDataChange(&qp_data);
}
