int soclcp_compute_error_v(SecondOrderConeLinearComplementarityProblem* problem, double *z , double *w, double tolerance, SolverOptions *options, double * error)
{
/* Checks inputs */
if(problem == NULL || z == NULL || w == NULL)
numerics_error("soclcp_compute_error", "null input for problem and/or z and/or w");
/* Computes w = Mz + q */
int incx = 1, incy = 1;
int nc = problem->nc;
int n = problem->n;
double *mu = problem->tau;
double invmu = 0.0;
cblas_dcopy(n , problem->q , incx , z , incy); // z <-q
// Compute the current reaction
NM_gemv(1.0, problem->M, w, 1.0, z);
*error = 0.;
double rho = 1.0;
for(int ic = 0 ; ic < nc ; ic++)
{
int dim = problem->coneIndex[ic+1]-problem->coneIndex[ic];
double * worktmp = (double *)malloc(dim*sizeof(double)) ;
int nic = problem->coneIndex[ic];
for (int i=0; i < dim; i++)
{
worktmp[i] = w[nic+i] - rho * z[nic+i];
}
invmu = 1.0 / mu[ic];
projectionOnSecondOrderCone(worktmp, invmu, dim);
for (int i=0; i < dim; i++)
{
worktmp[i] = w[nic+i] - worktmp[i];
*error += worktmp[i] * worktmp[i];
}
free(worktmp);
}
*error = sqrt(*error);
/* Computes error */
double norm_q = cblas_dnrm2(n , problem->q , incx);
*error = *error / (norm_q + 1.0);
if(*error > tolerance)
{
/* if (verbose > 0) printf(" Numerics - soclcp_compute_error_velocity failed: error = %g > tolerance = %g.\n",*error, tolerance); */
return 1;
}
else
return 0;
}
void fc3d_nsgs_fillMLocal(FrictionContactProblem * problem, FrictionContactProblem * localproblem, int contact)
{
NumericsMatrix * MGlobal = problem->M;
int n = 3 * problem->numberOfContacts;
int storageType = MGlobal->storageType;
if (storageType == 0)
// Dense storage
{
int in = 3 * contact, it = in + 1, is = it + 1;
int inc = n * in;
double * MM = MGlobal->matrix0;
double * MLocal = localproblem->M->matrix0;
/* The part of MM which corresponds to the current block is copied into MLocal */
MLocal[0] = MM[inc + in];
MLocal[1] = MM[inc + it];
MLocal[2] = MM[inc + is];
inc += n;
MLocal[3] = MM[inc + in];
MLocal[4] = MM[inc + it];
MLocal[5] = MM[inc + is];
inc += n;
MLocal[6] = MM[inc + in];
MLocal[7] = MM[inc + it];
MLocal[8] = MM[inc + is];
}
else if (storageType == 1)
{
int diagPos = getDiagonalBlockPos(MGlobal->matrix1, contact);
localproblem->M->matrix0 = MGlobal->matrix1->block[diagPos];
}
else
numerics_error("fc3d_projection -", "unknown storage type for matrix M");
}
int lcp_compute_error(LinearComplementarityProblem* problem, double *z , double *w, double tolerance, double * error)
{
/* Checks inputs */
if (problem == NULL || z == NULL || w == NULL)
numerics_error("lcp_compute_error", "null input for problem and/or z and/or w");
/* Computes w = Mz + q */
int incx = 1, incy = 1;
unsigned int n = problem->size;
cblas_dcopy(n , problem->q , incx , w , incy); // w <-q
prodNumericsMatrix(n, n, 1.0, problem->M, z, 1.0, w);
double normq = cblas_dnrm2(n , problem->q , incx);
lcp_compute_error_only(n, z, w, error);
*error = *error / (normq + 1.0); /* Need some comments on why this is needed */
if (*error > tolerance)
{
if (verbose > 0) printf(" Numerics - lcp_compute_error : error = %g > tolerance = %g.\n", *error, tolerance);
return 1;
}
else
return 0;
}
int variationalInequality_setDefaultSolverOptions(SolverOptions* options, int solverId)
{
solver_options_nullify(options);
int info = -1;
switch (solverId)
{
case SICONOS_VI_EG:
{
info = variationalInequality_ExtraGradient_setDefaultSolverOptions(options);
break;
}
case SICONOS_VI_FPP:
{
info = variationalInequality_FixedPointProjection_setDefaultSolverOptions(options);
break;
}
case SICONOS_VI_HP:
{
info = variationalInequality_HyperplaneProjection_setDefaultSolverOptions(options);
break;
}
case SICONOS_VI_BOX_QI:
{
info = variationalInequality_common_setDefaultSolverOptions(options, solverId);
break;
}
default:
{
numerics_error("variationalInequality_setDefaultSolverOptions", "Unknown Solver");
}
}
return info;
}
int soclcp_driver(SecondOrderConeLinearComplementarityProblem* problem,
double *r, double *v,
SolverOptions* options)
{
if(options == NULL)
numerics_error("soclcp_driver", "null input for solver and/or global options");
assert(options->isSet);
if(verbose > 0)
solver_options_print(options);
/* Solver name */
/*const char* const name = options->solverName;*/
int info = -1 ;
/* Check for trivial case */
info = soclcp_checkTrivialCase(problem, v, r, options);
if(info == 0)
return info;
switch(options->solverId)
{
/* Non Smooth Gauss Seidel (NSGS) */
case SICONOS_SOCLCP_NSGS:
{
numerics_printf(" ========================== Call NSGS solver for Second Order Cone LCP problem ==========================\n");
soclcp_nsgs(problem, r , v , &info , options);
break;
}
/* case SICONOS_SOCLCP_NSGSV: */
/* { */
/* numerics_printf(numerics_printf(" ========================== Call NSGSV solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_nsgs_v(problem, r , v , &info , options); */
/* break; */
/* } */
/* /\* Proximal point algorithm *\/ */
/* case SICONOS_SOCLCP_PROX: */
/* { */
/* numerics_printf(numerics_printf(" ========================== Call PROX (Proximal Point) solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_proximal(problem, r , v , &info , options); */
/* break; */
/* } */
/* /\* Tresca Fixed point algorithm *\/ */
/* case SICONOS_SOCLCP_TFP: */
/* { */
/* numerics_printf(" ========================== Call TFP (Tresca Fixed Point) solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_TrescaFixedPoint(problem, r , v , &info , options); */
/* break; */
/* } */
case SICONOS_SOCLCP_VI_FPP:
{
numerics_printf(" ========================== Call VI_FixedPointProjection (VI_FPP) solver for Second Order Cone LCP problem ==========================\n");
soclcp_VI_FixedPointProjection(problem, r , v , &info , options);
break;
}
/* VI Extra Gradient algorithm */
case SICONOS_SOCLCP_VI_EG:
{
numerics_printf(" ========================== Call VI_ExtraGradient (VI_EG) solver for Second Order Cone LCP problem ==========================\n");
soclcp_VI_ExtraGradient(problem, r , v , &info , options);
break;
}
/* /\* Hyperplane Projection algorithm *\/ */
/* case SICONOS_SOCLCP_HP: */
/* { */
/* numerics_printf(" ========================== Call Hyperplane Projection (HP) solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_HyperplaneProjection(problem, r , v , &info , options); */
/* break; */
/* } */
/* /\* Alart Curnier in local coordinates *\/ */
/* case SICONOS_SOCLCP_NSN_AC: */
/* { */
/* numerics_printf(" ========================== Call Alart Curnier solver for Second Order Cone LCP problem ==========================\n"); */
/* if (problem->M->matrix0) */
/* { */
/* soclcp_nonsmooth_Newton_AlartCurnier(problem, r , v , &info , options); */
/* } */
/* else */
/* { */
/* soclcp_nonsmooth_Newton_AlartCurnier(problem, r , v , &info , options); */
/* } */
/* break; */
/* } */
/* /\* Fischer Burmeister in local coordinates *\/ */
/* case SICONOS_SOCLCP_NSN_FB: */
/* { */
/* numerics_printf(" ========================== Call Fischer Burmeister solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_nonsmooth_Newton_FischerBurmeister(problem, r , v , &info , options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_QUARTIC_NU: */
/* case SICONOS_SOCLCP_QUARTIC: */
/* { */
/* numerics_printf(" ========================== Call Quartic solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_unitary_enumerative(problem, r , v , &info , options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_AlartCurnierNewton: */
/* case SICONOS_SOCLCP_DampedAlartCurnierNewton: */
/* { */
/* numerics_printf(" ========================== Call Quartic solver for Second Order Cone LCP problem ==========================\n"); */
/* info =soclcp_Newton_solve(problem, r , options); */
/* break; */
/* } */
default:
{
fprintf(stderr, "Numerics, SecondOrderConeLinearComplementarity_driver failed. Unknown solver.\n");
exit(EXIT_FAILURE);
}
}
return info;
}
int mixedLinearComplementarity_setDefaultSolverOptions(MixedLinearComplementarityProblem* problem, SolverOptions* pOptions)
{
solver_options_nullify(pOptions);
int info = -1;
switch (pOptions->solverId)
{
case SICONOS_MLCP_DIRECT_ENUM:
{
info = mixedLinearComplementarity_directEnum_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_PATH_ENUM:
{
info = mixedLinearComplementarity_pathEnum_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_DIRECT_PATH_ENUM:
{
info = mixedLinearComplementarity_directPathEnum_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_DIRECT_SIMPLEX:
{
info = mixedLinearComplementarity_directSimplex_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_DIRECT_PATH:
{
info = mixedLinearComplementarity_directPath_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_DIRECT_FB:
{
info = mixedLinearComplementarity_directFB_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_SIMPLEX:
{
info = mixedLinearComplementarity_simplex_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_PGS:
{
info = mixedLinearComplementarity_pgs_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_PGS_SBM:
{
info = mixedLinearComplementarity_pgs_SBM_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_RPGS:
{
info = mixedLinearComplementarity_rpgs_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_RPSOR:
{
info = mixedLinearComplementarity_rpsor_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_PATH:
{
info = mixedLinearComplementarity_path_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_ENUM:
{
info = mixedLinearComplementarity_enum_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_FB:
{
info = mixedLinearComplementarity_fb_setDefaultSolverOptions(problem, pOptions);
break;
}
case SICONOS_MLCP_PSOR:
{
info = mixedLinearComplementarity_psor_setDefaultSolverOptions(problem, pOptions);
break;
}
default:
{
numerics_error("mixedLinearComplementarity_setDefaultSolverOptions", "Unknown Solver");
}
}
return info;
}
int fc2d_compute_error(FrictionContactProblem* problem, double *z , double *w, double tolerance, double * error)
{
/* Checks inputs */
if (! problem || ! z || ! w)
numerics_error("fc2d_compute_error", "null input for problem and/or z and/or w");
int nc = problem->numberOfContacts;
int n = nc * 2;
int ic, iN, iT;
double *mu = problem->mu;
double tmp[2];
double normT;
cblas_dcopy(n, problem->q, 1, w, 1); // w <-q
prodNumericsMatrix(n, n, 1.0, problem->M, z, 1.0, w);
*error = 0.;
/* Num. Methods For Nonsmooth Dynamics, A.13 P 528 */
/* DesaxceFeng98 */
/* K* -) x _|_ y (- K <=> x = projK(x-rho.y) for all rho>0 */
for (ic = 0, iN = 0, iT = 1 ; ic < nc ; ++ic , ++iN, ++iN, ++iT, ++iT)
{
/* Compute the modified local velocity */
tmp[0] = z[iN] - (w[iN] + mu[ic] * fabs(w[iT])); /* rho=1 */
tmp[1] = z[iT] - w[iT]; /* rho=1 */
/* projection */
normT = fabs(tmp[1]);
if (mu[ic]*normT <= -tmp[0])
{
tmp[0] = 0.;
tmp[1] = 0.;
}
else if (normT > mu[ic]*tmp[0])
{
/* solve([sqrt((r1-mu*ra)^2+(r0-ra)^2)=abs(mu*r0-r1)/sqrt(mu*mu+1)],[ra]) */
tmp[0] = (mu[ic] * normT + tmp[0]) / (mu[ic] * mu[ic] + 1);
tmp[1] = mu[ic] * tmp[0] * SGN(tmp[1]);
}
tmp[0] = z[iN] - tmp[0];
tmp[1] = z[iT] - tmp[1];
*error += tmp[0] * tmp[0] + tmp[1] * tmp[1];
}
*error = sqrt(*error);
*error /= (cblas_dnrm2(n, problem->q, 1) + 1.0);
if (*error > tolerance)
{
if (verbose > 1) printf(" Numerics - fc2d_compute_error failed: error = %g > tolerance = %g.\n", *error, tolerance);
return 1;
}
else
return 0;
}
int fc2d_tolcp(FrictionContactProblem* problem, LinearComplementarityProblem * lcp_problem)
{
if (problem->dimension != 2)
{
numerics_error("fc2d_tolcp", "Dimension of the problem : problem-> dimension is not compatible or is not set");
return 1;
}
int nc = problem->numberOfContacts;
lcp_problem->size = 3 * nc ;
lcp_problem->M = newNumericsMatrix();
lcp_problem->M->size0 = 3 * nc ;
lcp_problem->M->size1 = 3 * nc ;
lcp_problem->M->storageType = 0;
lcp_problem->M->matrix1 = NULL;
lcp_problem->M->matrix2 = NULL;
lcp_problem->M->internalData = NULL;
lcp_problem->M->matrix0 = (double*)malloc(lcp_problem->size * lcp_problem->size * sizeof(double));;
lcp_problem->q = (double*)malloc(lcp_problem->size * sizeof(double));
int n = 2 * nc;
int i, j;
for (i = 0; i < nc; i++)
{
for (j = 0; j < nc; j++)
{
/* first Column */
lcp_problem->M->matrix0[3 * i + 3 * j * lcp_problem->size] =
problem->M->matrix0[2 * i + 2 * j * n] - problem->mu[i] * problem->M->matrix0[2 * i + (2 * j + 1) * n] ; // compute W_NN-mu W_NT
lcp_problem->M->matrix0[3 * i + 1 + 3 * j * lcp_problem->size] =
problem->M->matrix0[(2 * i + 1) + 2 * j * n] - problem->mu[i] * problem->M->matrix0[(2 * i + 1) + (2 * j + 1) * n] ; // compute W_TN-mu W_TT
if (i == j)
{
lcp_problem->M->matrix0[3 * i + 2 + 3 * j * lcp_problem->size] = 2.0 * problem->mu[i];
}
else
{
lcp_problem->M->matrix0[3 * i + 2 + 3 * j * lcp_problem->size] = 0.0;
}
/* second Column */
lcp_problem->M->matrix0[3 * i + (3 * j + 1)*lcp_problem->size] =
problem->M->matrix0[2 * i + (2 * j + 1) * n] ; // set W_NT
lcp_problem->M->matrix0[3 * i + 1 + (3 * j + 1)*lcp_problem->size] =
problem->M->matrix0[(2 * i + 1) + (2 * j + 1) * n] ; // set WTT
if (i == j)
{
lcp_problem->M->matrix0[3 * i + 2 + (3 * j + 1)*lcp_problem->size] = -1.0;
}
else
{
lcp_problem->M->matrix0[3 * i + 2 + (3 * j + 1)*lcp_problem->size] = 0.0;
}
/* Third Column */
lcp_problem->M->matrix0[3 * i + (3 * j + 2)*lcp_problem->size] = 0.0;
if (i == j)
{
lcp_problem->M->matrix0[3 * i + 1 + (3 * j + 2)*lcp_problem->size] = 1.0;
}
else
{
lcp_problem->M->matrix0[3 * i + 1 + (3 * j + 2)*lcp_problem->size] = 0.0;
}
lcp_problem->M->matrix0[3 * i + 2 + (3 * j + 2)*lcp_problem->size] = 0.0;
}
}
for (i = 0; i < nc; i++)
{
lcp_problem->q[3 * i ] = problem->q[2 * i];
lcp_problem->q[3 * i + 1] = problem->q[2 * i + 1];
lcp_problem->q[3 * i + 2] = 0.0;;
}
return 0;
}
int extractLCP(NumericsMatrix* MGlobal, double *z , int *indic, int *indicop, double *submatlcp , double *submatlcpop,
int *ipiv , int *sizesublcp , int *sizesublcpop)
{
if (MGlobal == NULL || z == NULL)
numerics_error("extractLCP", "Null input for one arg (problem, z, ...)");
int info;
/* double epsdiag = DBL_EPSILON;*/
/* Extract data from problem */
if (MGlobal->storageType == 1)
numerics_error("extractLCP", "Not yet implemented for sparse storage");
double * M = MGlobal->matrix0;
int sizelcp = MGlobal->size0;
if (M == NULL)
numerics_error("extractLCP", "Null input matrix M");
/* workspace = (double*)malloc(sizelcp * sizeof(double)); */
/* printf("recalcul_submat\n");*/
/* indic = set of indices for which z[i] is positive */
/* indicop = set of indices for which z[i] is null */
/* test z[i] sign */
int i, j = 0, k = 0;
for (i = 0; i < sizelcp; i++)
{
if (z[i] > w[i]) /* if (z[i] >= epsdiag)*/
{
indic[j] = i;
j++;
}
else
{
indicop[k] = i;
k++;
}
}
/* size of the sub-matrix that corresponds to indic */
*sizesublcp = j;
/* size of the sub-matrix that corresponds to indicop */
*sizesublcpop = k;
/* If indic is non-empty, copy corresponding M sub-matrix into submatlcp */
if (*sizesublcp != 0)
{
for (j = 0; j < *sizesublcp; j++)
{
for (i = 0; i < *sizesublcp; i++)
submatlcp[(j * (*sizesublcp)) + i] = M[(indic[j] * sizelcp) + indic[i]];
}
/* LU factorization and inverse in place for submatlcp */
DGETRF(*sizesublcp, *sizesublcp, submatlcp, *sizesublcp, ipiv, info);
if (info != 0)
{
numerics_warning("extractLCP", "LU factorization failed") ;
return 1;
}
DGETRI(*sizesublcp, submatlcp, *sizesublcp, ipiv , info);
if (info != 0)
{
numerics_warning("extractLCP", "LU inversion failed");
return 1;
}
/* if indicop is not empty, copy corresponding M sub-matrix into submatlcpop */
if (*sizesublcpop != 0)
{
for (j = 0; j < *sizesublcp; j++)
{
for (i = 0; i < *sizesublcpop; i++)
submatlcpop[(j * (*sizesublcpop)) + i] = vec[(indic[j] * sizelcp) + indicop[i]];
}
}
}
return 0;
}
int predictLCP(int sizeLCP, double* q, double *z , double *w , double tol,
int *indic , int *indicop , double *submatlcp , double *submatlcpop ,
int *ipiv , int *sizesublcp , int *sizesublcpop , double *subq , double *bufz , double *newz)
{
if (q == NULL || z == NULL || w == NULL)
numerics_error("predictLCP", "Null input for one arg (problem, q,w ...)");
int i, sizelcp, info, incx;
double error, normq;
double zi, wi;
int incx = 1;
/* Copy of z into a buffer for restart if predict failed */
cblas_dcopy(sizeLCP, z , incx , bufz , incx); /* Saving z on enter. */
/* Sets z and w to 0*/
for (i = 0; i < sizeLCP; i++)
{
z[i] = 0.;
w[i] = 0.;
}
/* if indic is not empty, computes solution of newz of submatlcp.newz = subq */
if (*sizesublcp != 0)
{
/* Gets subq */
for (i = 0; i < *sizesublcp; i++)
subq[i] = -q[indic[i]];
cblas_dgemv(CblasColMajor,CblasNoTrans, *sizesublcp , *sizesublcp , 1.0 , submatlcp , *sizesublcp , subq , incx , 0.0 , newz , incx);
/* Copy of newz into z for i in indic */
for (i = 0; i < *sizesublcp; i++)
{
/* z[indic[i]] = subq[i];*/
/* if (newz[i] > 0) z[indic[i]] = newz[i];*/
z[indic[i]] = newz[i];
}
}
/* if indicop is not empty, computes subw = submatlcpop.newz + subq - subw saved in subq */
if (*sizesublcpop != 0)
{
/* Gets subq */
for (i = 0; i < *sizesublcpop; i++)
subq[i] = q[indicop[i]];
if (*sizesublcp != 0)
cblas_dgemv(CblasColMajor,CblasNoTrans, *sizesublcpop , *sizesublcp , 1.0, submatlcpop, *sizesublcpop, newz, incx, 1.0, subq, incx);
/* Copy of subq=subw into w for indices in indicop */
for (i = 0; i < *sizesublcpop; i++)
w[indicop[i]] = subq[i];
}
/* Error evaluation */
error = 0.;
for (i = 0 ; i < sizeLCP ; i++)
{
zi = z[i];
wi = w[i];
if (zi < 0.0)
{
error += -zi;
if (wi < 0.0) error += zi * wi;
}
if (wi < 0.0) error += -wi;
if ((zi > 0.0) && (wi > 0.0)) error += zi * wi;
}
normq = cblas_dnrm2(sizeLCP, q, incx);
error = error / normq;
if (error > tol)
{
printf("Numerics warning - predictLCP failed, error = %g > tolerance = %g - Reset z to starting value.\n", error, tol);
info = -1;
}
else info = *sizesublcp;
/* If failed, reset z to starting value (saved in bufz) */
if (info < 0)
cblas_dcopy(sizeLCP , bufz , incx, z, incx);
return info;
}
void fc3d_nonsmooth_Newton_solvers_solve(fc3d_nonsmooth_Newton_solvers* equation,
double* reaction,
double* velocity,
int* info,
SolverOptions* options)
{
assert(equation);
FrictionContactProblem* problem = equation->problem;
assert(problem);
assert(reaction);
assert(velocity);
assert(info);
assert(options);
assert(problem->dimension == 3);
assert(options->iparam);
assert(options->dparam);
assert(problem->q);
assert(problem->mu);
assert(problem->M);
assert(problem->M->matrix0 || problem->M->matrix1 || problem->M->matrix2);
assert(!options->iparam[4]); // only host
unsigned int problemSize = 3 * problem->numberOfContacts;
unsigned int iter = 0;
unsigned int itermax = options->iparam[0];
unsigned int erritermax = options->iparam[7];
int nzmax;
if (problem->M->storageType == NM_DENSE)
{
nzmax = problemSize * problemSize;
}
else
{
nzmax = options->iparam[3];
}
assert(itermax > 0);
assert(nzmax > 0);
double tolerance = options->dparam[0];
assert(tolerance > 0);
if (verbose > 0)
printf("------------------------ FC3D - _nonsmooth_Newton_solversSolve - Start with tolerance = %g\n", tolerance);
unsigned int _3problemSize = 3 * problemSize;
double normq = cblas_dnrm2(problemSize , problem->q , 1);
void *buffer;
if (!options->dWork)
{
buffer = malloc((11 * problemSize) * sizeof(double)); // F(1),
// tmp1(1),
// tmp2(1),
// tmp3(1),
// A(3),
// B(3), rho
}
else
{
buffer = options->dWork;
}
double *F = (double *) buffer;
double *tmp1 = (double *) F + problemSize;
double *tmp2 = (double *) tmp1 + problemSize;
double *tmp3 = (double *) tmp2 + problemSize;
double *Ax = tmp3 + problemSize;
double *Bx = Ax + _3problemSize;
double *rho = Bx + _3problemSize;
NumericsMatrix *AWpB, *AWpB_backup;
if (!options->dWork)
{
AWpB = createNumericsMatrix(problem->M->storageType,
problem->M->size0, problem->M->size1);
AWpB_backup = createNumericsMatrix(problem->M->storageType,
problem->M->size0, problem->M->size1);
}
else
{
AWpB = (NumericsMatrix*) (rho + problemSize);
AWpB_backup = (NumericsMatrix*) (AWpB + sizeof(NumericsMatrix*));
}
/* just for allocations */
NM_copy(problem->M, AWpB);
if (problem->M->storageType != NM_DENSE)
{
switch(options->iparam[13])
{
case 0:
{
NM_linearSolverParams(AWpB)->solver = NS_CS_LUSOL;
break;
}
case 1:
{
NM_linearSolverParams(AWpB)->solver = NS_MUMPS;
#ifdef HAVE_MPI
assert (options->solverData);
if ((MPI_Comm) options->solverData == MPI_COMM_NULL)
{
options->solverData = NM_MPI_com(MPI_COMM_NULL);
}
else
{
NM_MPI_com((MPI_Comm) options->solverData);
}
#endif
break;
}
default:
{
numerics_error("fc3d_nonsmooth_Newton_solvers_solve", "Unknown linear solver.\n");
}
}
}
// compute rho here
for (unsigned int i = 0; i < problemSize; ++i) rho[i] = options->dparam[3];
// velocity <- M*reaction + qfree
cblas_dcopy(problemSize, problem->q, 1, velocity, 1);
NM_gemv(1., problem->M, reaction, 1., velocity);
double linear_solver_residual=0.0;
while (iter++ < itermax)
{
equation->function(equation->data,
problemSize,
reaction, velocity, equation->problem->mu,
rho,
F, Ax, Bx);
// AW + B
computeAWpB(Ax, problem->M, Bx, AWpB);
cblas_dcopy_msan(problemSize, F, 1, tmp1, 1);
cblas_dscal(problemSize, -1., tmp1, 1);
/* Solve: AWpB X = -F */
NM_copy(AWpB, AWpB_backup);
int lsi = NM_gesv(AWpB, tmp1);
/* NM_copy needed here */
NM_copy(AWpB_backup, AWpB);
if (lsi)
{
if (verbose > 0)
{
numerics_warning("fc3d_nonsmooth_Newton_solvers_solve",
"warning! linear solver exit with code = %d\n", lsi);
}
}
if (verbose > 0)
{
cblas_dcopy_msan(problemSize, F, 1, tmp3, 1);
NM_gemv(1., AWpB, tmp1, 1., tmp3);
linear_solver_residual = cblas_dnrm2(problemSize, tmp3, 1);
/* fprintf(stderr, "fc3d esolve: linear equation residual = %g\n", */
/* cblas_dnrm2(problemSize, tmp3, 1)); */
/* for the component wise scaled residual: cf mumps &
* http://www.netlib.org/lapack/lug/node81.html */
}
// line search
double alpha = 1;
int info_ls = 0;
cblas_dcopy_msan(problemSize, tmp1, 1, tmp3, 1);
switch (options->iparam[11])
{
case -1:
/* without line search */
info_ls = 1;
break;
case 0:
/* Goldstein Price */
info_ls = globalLineSearchGP(equation, reaction, velocity, problem->mu, rho, F, Ax, Bx, problem->M, problem->q, AWpB, tmp1, tmp2, &alpha, options->iparam[12]);
break;
case 1:
/* FBLSA */
info_ls = frictionContactFBLSA(equation, reaction, velocity, problem->mu, rho, F, Ax, Bx,
problem->M, problem->q, AWpB, tmp1, tmp2, &alpha, options->iparam[12]);
break;
default:
{
numerics_error("fc3d_nonsmooth_Newton_solvers_solve",
"Unknown line search option.\n");
}
}
if (!info_ls)
// tmp2 should contains the reaction iterate of the line search
// for GP this should be the same as cblas_daxpy(problemSize, alpha, tmp1, 1, reaction, 1);
cblas_dcopy(problemSize, tmp2, 1, reaction, 1);
else
cblas_daxpy(problemSize, 1., tmp3, 1., reaction, 1);
// velocity <- M*reaction + qfree
cblas_dcopy(problemSize, problem->q, 1, velocity, 1);
NM_gemv(1., problem->M, reaction, 1., velocity);
options->dparam[1] = INFINITY;
if (!(iter % erritermax))
{
fc3d_compute_error(problem, reaction, velocity,
// fc3d_FischerBurmeister_compute_error(problem, reaction, velocity,
tolerance, options, normq, &(options->dparam[1]));
DEBUG_EXPR_WE(equation->function(equation->data, problemSize,
reaction, velocity, equation->problem->mu, rho,
F, NULL, NULL));
DEBUG_EXPR_WE(assert((cblas_dnrm2(problemSize, F, 1)
/ (1 + cblas_dnrm2(problemSize, problem->q, 1)))
<= (10 * options->dparam[1] + 1e-15)));
}
if (verbose > 0)
{
equation->function(equation->data, problemSize,
reaction, velocity, equation->problem->mu, rho,
F, NULL, NULL);
printf(" ---- fc3d_nonsmooth_Newton_solvers_solve: iteration %d : , linear solver residual =%g, residual=%g, ||F||=%g\n", iter, linear_solver_residual, options->dparam[1],cblas_dnrm2(problemSize, F, 1));
}
if (options->callback)
{
options->callback->collectStatsIteration(options->callback->env, problemSize, reaction, velocity,
options->dparam[1], NULL);
}
if (isnan(options->dparam[1]))
{
if (verbose > 0)
{
printf(" fc3d_nonsmooth_Newton_solvers_solve: iteration %d : computed residual is not a number, stop.\n", iter);
}
info[0] = 2;
break;
}
if (options->dparam[1] < tolerance)
{
info[0] = 0;
break;
}
}
if (verbose > 0)
{
if (!info[0])
printf("------------------------ FC3D - NSN - convergence after %d iterations, residual : %g < %g \n", iter, options->dparam[1],tolerance);
else
{
printf("------------------------ FC3D - NSN - no convergence after %d iterations, residual : %g < %g \n", iter, options->dparam[1], tolerance);
}
}
options->iparam[SICONOS_IPARAM_ITER_DONE] = iter;
if (!options->dWork)
{
assert(buffer);
free(buffer);
options->dWork = NULL;
}
else
{
assert(buffer == options->dWork);
}
if (!options->dWork)
{
freeNumericsMatrix(AWpB);
freeNumericsMatrix(AWpB_backup);
free(AWpB);
free(AWpB_backup);
}
if (verbose > 0)
printf("------------------------ FC3D - NSN - End\n");
}
void fc3d_Panagiotopoulos_FixedPoint(FrictionContactProblem* problem, double *reaction, double *velocity, int* info, SolverOptions* options)
{
/* verbose=1; */
/* int and double parameters */
int* iparam = options->iparam;
double* dparam = options->dparam;
/* Number of contacts */
int nc = problem->numberOfContacts;
/* Maximum number of iterations */
int itermax = iparam[SICONOS_IPARAM_MAX_ITER];
/* Tolerance */
double tolerance = dparam[SICONOS_DPARAM_TOL];
double norm_q = cblas_dnrm2(nc*3 , problem->q , 1);
if (options->numberOfInternalSolvers < 1)
{
numerics_error("fc3d_TrescaFixedpoint", "The Tresca Fixed Point method needs options for the internal solvers, options[0].numberOfInternalSolvers should be >1");
}
SolverOptions * internalsolver_options = options->internalSolvers;
if (verbose) solver_options_print(options);
/***** Fixed Point Iterations *****/
int iter = 0; /* Current iteration number */
double error = 1.; /* Current error */
int hasNotConverged = 1;
normalInternalSolverPtr internalsolver_normal;
tangentInternalSolverPtr internalsolver_tangent;
options->dWork = (double *) malloc(nc * sizeof(double));
options->dWorkSize = nc;
double * mu = options->dWork;
internalsolver_options->dWork = options->dWork;
double * r_n = (double *) malloc(nc * sizeof(double));
double * r_t = (double *) malloc(2* nc * sizeof(double));
for (int contact = 0 ; contact < nc; contact ++)
{
r_n[contact] = reaction[contact*3];
r_t[2*contact] = reaction[contact*3+1];
r_t[2*contact+1] = reaction[contact*3+2];
}
SplittedFrictionContactProblem * splitted_problem = (SplittedFrictionContactProblem *)malloc(sizeof(SplittedFrictionContactProblem));
createSplittedFrictionContactProblem(problem, splitted_problem);
LinearComplementarityProblem* normal_lcp_problem;
ConvexQP * tangent_cqp;
if (options->numberOfInternalSolvers !=2)
numerics_error("fc3d_Panagiotopoulos_FixedPoint", " the solver requires 2 internal solver");
if (internalsolver_options[0].solverId == SICONOS_LCP_PGS||
internalsolver_options[0].solverId == SICONOS_LCP_CONVEXQP_PG)
{
normal_lcp_problem = (LinearComplementarityProblem*)malloc(sizeof(LinearComplementarityProblem));
normal_lcp_problem->size = nc;
normal_lcp_problem->M = splitted_problem->M_nn;
/* for (int contact = 0 ; contact < nc; contact ++) */
/* { */
/* problem->mu[contact] =0.0; */
/* } */
/* splitted_problem->M_nn->matrix0 =(double *)malloc(splitted_problem->M_nn->size0*splitted_problem->M_nn->size1*sizeof(double)); */
/* SBM_to_dense(splitted_problem->M_nn->matrix1, splitted_problem->M_nn->matrix0); */
/* splitted_problem->M_nn->storageType=NM_DENSE; */
normal_lcp_problem->q = (double *)malloc(nc*sizeof(double));
}
else
{
numerics_error("fc3d_Panagiotopoulos_FixedPoint", "Unknown internal solver for the normal part.");
}
if (internalsolver_options[1].solverId == SICONOS_CONVEXQP_PG ||
internalsolver_options[1].solverId == SICONOS_CONVEXQP_VI_FPP||
internalsolver_options[1].solverId == SICONOS_CONVEXQP_VI_EG)
{
tangent_cqp = (ConvexQP *)malloc(sizeof(ConvexQP));
tangent_cqp->M = splitted_problem->M_tt;
tangent_cqp->q = (double *) malloc(2* nc * sizeof(double));
tangent_cqp->ProjectionOnC = &Projection_ConvexQP_FC3D_Disk;
tangent_cqp->A=NULL;
tangent_cqp->b= NULL;
FrictionContactProblem_as_ConvexQP *fc3d_as_cqp= (FrictionContactProblem_as_ConvexQP*)malloc(sizeof(FrictionContactProblem_as_ConvexQP));
tangent_cqp->env = fc3d_as_cqp ;
tangent_cqp->size = nc*2;
/*set the norm of the VI to the norm of problem->q */
double norm_q_t = cblas_dnrm2(nc*2 , splitted_problem->q_t , 1);
tangent_cqp->normConvexQP= norm_q_t;
tangent_cqp->istheNormConvexQPset=1;
fc3d_as_cqp->cqp = tangent_cqp;
fc3d_as_cqp->fc3d = problem;
fc3d_as_cqp->options = options;
}
else
{
numerics_error("fc3d_Panagiotopoulos_FixedPoint", "Unknown internal solver for the tangent part.");
}
if (internalsolver_options[0].solverId == SICONOS_LCP_PGS)
{
if (verbose > 0)
printf(" ========================== Call LCP_PGS solver for Friction-Contact 3D problem ==========================\n");
internalsolver_normal = &lcp_pgs;
}
else if (internalsolver_options[0].solverId == SICONOS_LCP_CONVEXQP_PG)
{
if (verbose > 0)
printf(" ========================== Call LCP_CONVEX_QP solver for Friction-Contact 3D problem ==========================\n");
internalsolver_normal = &lcp_ConvexQP_ProjectedGradient;
}
else
{
numerics_error("fc3d_Panagiotopoulos_FixedPoint", "Unknown internal solver for the normal part.");
}
if (internalsolver_options[1].solverId == SICONOS_CONVEXQP_PG)
{
if (verbose > 0)
printf(" ========================== Call SICONOS_CONVEX_QP solver for Friction-Contact 3D problem ==========================\n");
internalsolver_tangent = &convexQP_ProjectedGradient;
}
else if (internalsolver_options[1].solverId == SICONOS_CONVEXQP_VI_FPP ||
internalsolver_options[1].solverId == SICONOS_CONVEXQP_VI_EG )
{
if (verbose > 0)
printf(" ========================== Call SICONOS_CONVEX_VI_FPP solver for Friction-Contact 3D problem ==========================\n");
internalsolver_tangent = &convexQP_VI_solver;
}
int cumul_internal=0;
//verbose=1;
while ((iter < itermax) && (hasNotConverged > 0))
{
++iter;
fc3d_set_internalsolver_tolerance(problem,options,&internalsolver_options[0], error);
/* ----------------- */
/* normal resolution */
/* ----------------- */
/* compute the rhs of the normal problem */
cblas_dcopy(nc , splitted_problem->q_n , 1 , normal_lcp_problem->q, 1);
NM_gemv(1.0, splitted_problem->M_nt, r_t, 1.0, normal_lcp_problem->q);
(*internalsolver_normal)(normal_lcp_problem, r_n , velocity , info , &internalsolver_options[0]);
cumul_internal += internalsolver_options[0].iparam[SICONOS_IPARAM_ITER_DONE];
for (int contact = 0 ; contact < nc; contact ++)
{
reaction[contact*3]= r_n[contact];
}
fc3d_compute_error(problem, reaction , velocity, tolerance, options, norm_q, &error);
if (error < tolerance)
{
hasNotConverged = 0;
}
else
{
/* ------------------ */
/* tangent resolution */
/* ------------------ */
fc3d_set_internalsolver_tolerance(problem,options,&internalsolver_options[1], error);
/* compute the rhs of the tangent problem */
cblas_dcopy(2*nc , splitted_problem->q_t, 1 , tangent_cqp->q, 1);
NM_gemv(1.0, splitted_problem->M_tn, r_n, 1.0, tangent_cqp->q);
/* Compute the value of the initial value friction threshold*/
for (int ic = 0 ; ic < nc ; ic++) mu[ic] = fmax(0.0, problem->mu[ic] * reaction [ic * 3]);
/* if (verbose>0) */
/* printf("norm of mu = %10.5e \n", cblas_dnrm2(nc , mu , 1)); */
fc3d_compute_error(problem, reaction , velocity, tolerance, options, norm_q, &error);
(*internalsolver_tangent)(tangent_cqp, r_t , velocity , info , &internalsolver_options[1]);
cumul_internal += internalsolver_options->iparam[SICONOS_IPARAM_ITER_DONE];
for (int contact = 0 ; contact < nc; contact ++)
{
reaction[contact*3+1]= r_t[2*contact];
reaction[contact*3+2]= r_t[2*contact+1];
}
/* **** Criterium convergence **** */
fc3d_compute_error(problem, reaction , velocity, tolerance, options, norm_q, &error);
if (options->callback)
{
options->callback->collectStatsIteration(options->callback->env, nc * 3,
reaction, velocity, error, NULL);
}
if (error < tolerance) hasNotConverged = 0;
}
*info = hasNotConverged;
if (verbose > 0)
{
if (hasNotConverged)
{
printf("--------------- FC3D - PFP - Iteration %i error = %14.7e > %10.5e\n", iter, error, tolerance);
}
else
{
printf("--------------- FC3D - PFP - Iteration %i error = %14.7e < %10.5e\n", iter, error, tolerance);
printf("--------------- FC3D - PFP - # Internal iteration = %i\n", cumul_internal);
}
}
}
free(options->dWork);
options->dWork = NULL;
internalsolver_options->dWork = NULL;
if (internalsolver_options->internalSolvers != NULL)
internalsolver_options->internalSolvers->dWork = NULL;
dparam[SICONOS_DPARAM_RESIDU] = error;
iparam[SICONOS_IPARAM_ITER_DONE] = iter;
}
/*
* (input) double *z : size n+m
* (output)double *w : size n+m
*
*
*/
int mlcp_compute_error(MixedLinearComplementarityProblem* problem, double *z, double *w, double tolerance, double * error)
{
/* Checks inputs */
if (problem == NULL || z == NULL || w == NULL)
numerics_error("mlcp_compute_error", "null input for problem and/or z and/or w");
int param = 1;
int NbLines = problem->M->size0; /* Equalities */
int n = problem->n; /* Equalities */
int m = problem->m; /* Inequalities */
int incx = 1, incy = 1;
/* Computation of w: depends on the way the problem is written */
/* Problem in the form (M,q) */
if (problem->isStorageType1)
{
if (problem->M == NULL)
numerics_error("mlcp_compute_error", "null input for M");
/* Computes w = Mz + q */
cblas_dcopy(NbLines , problem->q , incx , w , incy);
prodNumericsMatrix(problem->M->size1, problem->M->size0, 1.0, problem->M, z, 1.0, w);
}
/* Problem in the form ABCD */
else //if (problem->isStorageType2)
{
/* Checks inputs */
if (problem->A == NULL || problem->B == NULL || problem->C == NULL || problem->D == NULL)
{
numerics_error("mlcp_compute_error: ", "null input for A, B, C or D");
}
/* Links to problem data */
double *a = &problem->q[0];
double *b = &problem->q[NbLines - m];
double *A = problem->A;
double *B = problem->B;
double *C = problem->C;
double *D = problem->D;
/* Compute "equalities" part, we = Au + Cv + a - Must be equal to 0 */
cblas_dcopy(NbLines - m , a , incx , w , incy); // we = w[0..n-1] <-- a
cblas_dgemv(CblasColMajor,CblasNoTrans , NbLines - m, n , 1.0 , A , NbLines - m , &z[0] , incx , 1.0 , w , incy); // we <-- A*u + we
cblas_dgemv(CblasColMajor,CblasNoTrans , NbLines - m, m , 1.0 , C , NbLines - m , &z[n] , incx , 1.0 , w , incy); // we <-- C*v + we
/* Computes part which corresponds to complementarity */
double * pwi = w + NbLines - m; // No copy!!
cblas_dcopy(m , b , incx , pwi , incy); // wi = w[n..m] <-- b
// following int param, we recompute the product wi = Du+BV +b and we = Au+CV +a
// The test is then more severe if we compute w because it checks that the linear equation is satisfied
if (param == 1)
{
cblas_dgemv(CblasColMajor,CblasNoTrans , m, n , 1.0 , D , m , &z[0] , incx , 1.0 , pwi , incy); // wi <-- D*u+ wi
cblas_dgemv(CblasColMajor,CblasNoTrans , m , m , 1.0 , B , m , &z[n] , incx , 1.0 , pwi , incy); // wi <-- B*v + wi
}
}
/* Error on equalities part */
double error_e = 0;
/* Checks complementarity (only for rows number n to size) */
double error_i = 0.;
double zi, wi;
double *q = problem->q;
double norm_e = 1;
double norm_i = 1;
if (problem->blocksRows)
{
int numBlock = 0;
while (problem->blocksRows[numBlock] < n + m)
{
if (!problem->blocksIsComp[numBlock])
{
error_e += cblas_dnrm2(problem->blocksRows[numBlock + 1] - problem->blocksRows[numBlock], w + problem->blocksRows[numBlock] , incx);
norm_e += cblas_dnrm2(problem->blocksRows[numBlock + 1] - problem->blocksRows[numBlock], q + problem->blocksRows[numBlock] , incx);
}
else
{
for (int numLine = problem->blocksRows[numBlock]; numLine < problem->blocksRows[numBlock + 1] ; numLine++)
{
zi = z[numLine];
wi = w[numLine];
if (zi < 0.0)
{
error_i += -zi;
if (wi < 0.0) error_i += zi * wi;
}
if (wi < 0.0) error_i += -wi;
if ((zi > 0.0) && (wi > 0.0)) error_i += zi * wi;
}
norm_i += cblas_dnrm2(problem->blocksRows[numBlock + 1] - problem->blocksRows[numBlock], w + problem->blocksRows[numBlock] , incx);
}
numBlock++;
}
}
else
{
printf("WARNING, DEPRECATED MLCP API\n");
/* Error on equalities part */
error_e = cblas_dnrm2(NbLines - m , w , incx);;
/* Checks complementarity (only for rows number n to size) */
error_i = 0.;
for (int i = 0 ; i < m ; i++)
{
zi = z[n + i];
wi = w[(NbLines - m) + i];
if (zi < 0.0)
{
error_i += -zi;
if (wi < 0.0) error_i += zi * wi;
}
if (wi < 0.0) error_i += -wi;
if ((zi > 0.0) && (wi > 0.0)) error_i += zi * wi;
}
/* Computes error */
norm_i += cblas_dnrm2(m , q + NbLines - m , incx);
norm_e += cblas_dnrm2(NbLines - m , q , incx);
}
if (error_i / norm_i >= error_e / norm_e)
{
*error = error_i / (1.0 + norm_i);
}
else
{
*error = error_e / (1.0 + norm_e);
}
if (*error > tolerance)
{
/*if (isVerbose > 0) printf(" Numerics - mlcp_compute_error failed: error = %g > tolerance = %g.\n",*error, tolerance);*/
if (verbose)
printf(" Numerics - mlcp_compute_error failed: error = %g > tolerance = %g.\n", *error, tolerance);
/* displayMLCP(problem);*/
return 1;
}
else
{
if (verbose > 0) printf("Siconos/Numerics: mlcp_compute_error: Error evaluation = %g \n", *error);
return 0;
}
}
void convexQP_VI_solver(ConvexQP* problem, double *z, double *w, int* info, SolverOptions* options)
{
NumericsMatrix* A = problem->A;
if (A)
{
numerics_error("ConvexQP_VI_Solver", "This solver does not support a specific matrix A different from the identity");
}
/* Dimension of the problem */
int n = problem->size;
VariationalInequality *vi = (VariationalInequality *)malloc(sizeof(VariationalInequality));
//vi.self = &vi;
vi->F = &Function_VI_CQP;
vi->ProjectionOnX = &Projection_VI_CQP;
int iter=0;
double error=1e24;
ConvexQP_as_VI *convexQP_as_vi= (ConvexQP_as_VI*)malloc(sizeof(ConvexQP_as_VI));
vi->env =convexQP_as_vi ;
vi->size = n;
/*set the norm of the VI to the norm of problem->q */
double norm_q = cblas_dnrm2(n, problem->q , 1);
vi->normVI= norm_q;
vi->istheNormVIset=1;
convexQP_as_vi->vi = vi;
convexQP_as_vi->cqp = problem;
SolverOptions * visolver_options = (SolverOptions *) malloc(sizeof(SolverOptions));
if (options->solverId==SICONOS_CONVEXQP_VI_FPP)
{
variationalInequality_setDefaultSolverOptions(visolver_options, SICONOS_VI_FPP);
}
else if (options->solverId==SICONOS_CONVEXQP_VI_EG)
{
variationalInequality_setDefaultSolverOptions(visolver_options, SICONOS_VI_EG);
}
int isize = options->iSize;
int dsize = options->dSize;
int vi_isize = visolver_options->iSize;
int vi_dsize = visolver_options->dSize;
if (isize != vi_isize )
{
printf("Warning: options->iSize in convexQP_VI_solver is not consitent with options->iSize in VI solver\n");
}
if (dsize != vi_dsize )
{
printf("Warning: options->iSize in convexQP_VI_solver is not consitent with options->iSize in VI solver\n");
}
int i;
for (i = 0; i < min(isize,vi_isize); i++)
{
if (options->iparam[i] != 0 )
visolver_options->iparam[i] = options->iparam[i] ;
}
for (i = 0; i < min(dsize,vi_dsize); i++)
{
if (fabs(options->dparam[i]) >= 1e-24 )
visolver_options->dparam[i] = options->dparam[i] ;
}
if (options->solverId==SICONOS_CONVEXQP_VI_FPP)
{
variationalInequality_FixedPointProjection(vi, z, w , info , visolver_options);
}
else if (options->solverId==SICONOS_CONVEXQP_VI_EG)
{
variationalInequality_ExtraGradient(vi, z, w , info , visolver_options);
}
/* **** Criterium convergence **** */
convexQP_compute_error_reduced(problem, z , w, options->dparam[0], options, norm_q, &error);
/* for (i =0; i< n ; i++) */
/* { */
/* printf("reaction[%i]=%f\t",i,reaction[i]); printf("velocity[%i]=F[%i]=%f\n",i,i,velocity[i]); */
/* } */
error = visolver_options->dparam[SICONOS_DPARAM_RESIDU];
iter = visolver_options->iparam[SICONOS_IPARAM_ITER_DONE];
options->dparam[SICONOS_DPARAM_RESIDU] = error;
options->dparam[3] = visolver_options->dparam[SICONOS_VI_EG_DPARAM_RHO];
options->iparam[SICONOS_IPARAM_ITER_DONE] = iter;
if (verbose > 0)
{
if (options->solverId==SICONOS_CONVEXQP_VI_FPP)
{
printf("--------------- CONVEXQP - VI solver (VI_FPP) - #Iteration %i Final Residual = %14.7e\n", iter, error);
}
else if (options->solverId==SICONOS_CONVEXQP_VI_EG)
{
printf("--------------- CONVEXQP - VI solver (VI_EG) - #Iteration %i Final Residual = %14.7e\n", iter, error);
}
}
free(vi);
solver_options_delete(visolver_options);
free(visolver_options);
free(convexQP_as_vi);
}
static void fc3d_AC_initialize(FrictionContactProblem* problem,
FrictionContactProblem* localproblem,
SolverOptions * options)
{
/** In initialize, these operators are "connected" to their corresponding static variables,
* that will be used to build local problem for each considered contact.
* Local problem is built during call to update (which depends on the storage type for M).
*/
DEBUG_PRINTF("fc3d_AC_initialize starts with options->iparam[10] = %i\n",
options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION]);
if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_ALARTCURNIER_STD )
{
Function = &(computeAlartCurnierSTD);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_JEANMOREAU_STD )
{
Function = &(computeAlartCurnierJeanMoreau);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_ALARTCURNIER_GENERATED )
{
Function = &(fc3d_AlartCurnierFunctionGenerated);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_JEANMOREAU_GENERATED )
{
Function = &fc3d_AlartCurnierJeanMoreauFunctionGenerated;;
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_NULL)
{
Function = NULL;
}
/* Compute and store default value of rho value */
int nc = problem->numberOfContacts;
double avg_rho[3] = {0.0, 0.0, 0.0};
if (options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN ||
options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN_GP)
{
if (!options->dWork ||
options->dWorkSize < 3*nc)
{
options->dWork = (double *)realloc(options->dWork,
3*nc * sizeof(double));
options->dWorkSize = 3*nc ;
}
}
else if (options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN_GP_HYBRID)
{
if (!options->dWork ||
options->dWorkSize < 4*nc)
{
options->dWork = (double *)realloc(options->dWork,
4*nc * sizeof(double));
options->dWorkSize = 4*nc ;
}
}
double * rho;
for (int contact =0; contact <nc ; contact++)
{
if (options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN ||
options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN_GP)
{
rho = &options->dWork[3*contact];
}
else if (options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN_GP_HYBRID)
{
options->dWork[contact] = 1.0; // for PLI algorithm.
rho = &options->dWork[3*contact+nc];
}
numerics_printf("fc3d_AC_initialize "" compute rho for contact = %i",contact);
if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_SPLIT_SPECTRAL_NORM_COND)
{
fc3d_local_problem_fill_M(problem, localproblem, contact);
compute_rho_split_spectral_norm_cond(localproblem, rho);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_SPLIT_SPECTRAL_NORM)
{
fc3d_local_problem_fill_M(problem, localproblem, contact);
compute_rho_split_spectral_norm(localproblem, rho);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_SPECTRAL_NORM)
{
fc3d_local_problem_fill_M(problem, localproblem, contact);
compute_rho_spectral_norm(localproblem, rho);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_CONSTANT)
{
rho[0]=options->dparam[SICONOS_FRICTION_3D_NSN_RHO];
rho[1]=options->dparam[SICONOS_FRICTION_3D_NSN_RHO];
rho[2]=options->dparam[SICONOS_FRICTION_3D_NSN_RHO];
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_ADAPTIVE)
{
numerics_error("fc3d_AC_initialize", "Adaptive strategy for computing rho not yet implemented");
}
else
numerics_error("fc3d_AC_initialize", "unknown strategy for computing rho");
if (verbose >0)
{
avg_rho[0] += rho[0];
avg_rho[1] += rho[1];
avg_rho[2] += rho[2];
}
numerics_printf("fc3d_AC_initialize""contact = %i, rho[0] = %4.2e, rho[1] = %4.2e, rho[2] = %4.2e", contact, rho[0], rho[1], rho[2]);
fc3d_local_problem_fill_M(problem, localproblem, contact);
double m_row_norm = 0.0, sum;
for (int i =0; i<3; i++ )
{
sum =0.0;
for (int j =0; j<3; j++ )
{
sum += fabs(localproblem->M->matrix0[i+j*3]);
}
m_row_norm = max(sum, m_row_norm);
}
numerics_printf("fc3d_AC_initialize" " inverse of norm of M = %e", 1.0/hypot9(localproblem->M->matrix0) );
numerics_printf("fc3d_AC_initialize" " inverse of row norm of M = %e", 1.0/m_row_norm );
DEBUG_EXPR(NM_display(localproblem->M););
}
void fc3d_nonsmooth_Newton_AlartCurnier(
FrictionContactProblem* problem,
double *reaction,
double *velocity,
int *info,
SolverOptions *options)
{
/* verbose=1; */
assert(problem);
assert(reaction);
assert(velocity);
assert(info);
assert(options);
assert(problem->dimension == 3);
assert(options->iparam);
assert(options->dparam);
assert(problem->q);
assert(problem->mu);
assert(problem->M);
assert(!options->iparam[4]); // only host
AlartCurnierParams acparams;
switch (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION])
{
case 0:
{
acparams.computeACFun3x3 = &computeAlartCurnierSTD;
break;
}
case 1:
{
acparams.computeACFun3x3 = &computeAlartCurnierJeanMoreau;
break;
};
case 2:
{
acparams.computeACFun3x3 = &fc3d_AlartCurnierFunctionGenerated;
break;
}
case 3:
{
acparams.computeACFun3x3 = &fc3d_AlartCurnierJeanMoreauFunctionGenerated;
break;
}
}
fc3d_nonsmooth_Newton_solvers equation;
equation.problem = problem;
equation.data = (void *) &acparams;
equation.function = &nonsmoothEqnAlartCurnierFun;
if(options->iparam[SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY] == SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY_VI_EG_NSN)
{
SolverOptions * options_vi_eg =(SolverOptions *)malloc(sizeof(SolverOptions));
fc3d_VI_ExtraGradient_setDefaultSolverOptions(options_vi_eg);
options_vi_eg->iparam[SICONOS_IPARAM_MAX_ITER] = 50;
options_vi_eg->dparam[SICONOS_DPARAM_TOL] = sqrt(options->dparam[0]);
options_vi_eg->iparam[SICONOS_VI_IPARAM_ERROR_EVALUATION] = SICONOS_VI_ERROR_EVALUATION_LIGHT;
fc3d_VI_ExtraGradient(problem, reaction , velocity , info , options_vi_eg);
fc3d_nonsmooth_Newton_solvers_solve(&equation, reaction, velocity, info, options);
solver_options_delete(options_vi_eg);
free(options_vi_eg);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY] == SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY_NO)
{
fc3d_nonsmooth_Newton_solvers_solve(&equation, reaction, velocity, info, options);
}
else
{
numerics_error("fc3d_nonsmooth_Newton_AlartCurnier","Unknown nsn hybrid solver");
}
}
int gfc3d_driver(GlobalFrictionContactProblem* problem, double *reaction , double *velocity, double* globalVelocity, SolverOptions* options)
{
assert(options->isSet);
if (verbose > 0)
solver_options_print(options);
/* Solver name */
/* char * name = options->solverName;*/
int info = -1 ;
if (problem->dimension != 3)
numerics_error("gfc3d_driver", "Dimension of the problem : problem-> dimension is not compatible or is not set");
/* Non Smooth Gauss Seidel (NSGS) */
switch (options->solverId)
{
case SICONOS_GLOBAL_FRICTION_3D_NSGS_WR:
{
if (verbose == 1)
printf(" ========================== Call NSGS_WR solver with reformulation into Friction-Contact 3D problem ==========================\n");
Global_ipiv = NULL;
Global_MisInverse = 0;
Global_MisLU = 0;
gfc3d_nsgs_wr(problem, reaction , velocity, globalVelocity, &info, options);
break;
}
case SICONOS_GLOBAL_FRICTION_3D_NSGSV_WR:
{
if (verbose == 1)
printf(" ========================== Call NSGSV_WR solver with reformulation into Friction-Contact 3D problem ==========================\n");
Global_ipiv = NULL;
Global_MisInverse = 0;
Global_MisLU = 0;
gfc3d_nsgs_velocity_wr(problem, reaction , velocity, globalVelocity, &info, options);
break;
}
case SICONOS_GLOBAL_FRICTION_3D_NSN_AC_WR:
{
if (verbose == 1)
printf(" ========================== Call NSN_AC_WR solver with reformulation into Friction-Contact 3D problem ==========================\n");
Global_ipiv = NULL;
Global_MisInverse = 0;
Global_MisLU = 0;
gfc3d_globalAlartCurnier_wr(problem, reaction , velocity, globalVelocity, &info, options);
break;
}
case SICONOS_GLOBAL_FRICTION_3D_PROX_WR:
{
if (verbose == 1)
printf(" ========================== Call PROX_WR solver with reformulation into Friction-Contact 3D problem ==========================\n");
Global_ipiv = NULL;
Global_MisInverse = 0;
Global_MisLU = 0;
gfc3d_proximal_wr(problem, reaction , velocity, globalVelocity, &info, options);
break;
}
case SICONOS_GLOBAL_FRICTION_3D_DSFP_WR:
{
if (verbose == 1)
printf(" ========================== Call DSFP_WR solver with reformulation into Friction-Contact 3D problem ==========================\n");
Global_ipiv = NULL;
Global_MisInverse = 0;
Global_MisLU = 0;
gfc3d_DeSaxceFixedPoint_wr(problem, reaction , velocity, globalVelocity, &info, options);
break;
}
case SICONOS_GLOBAL_FRICTION_3D_TFP_WR:
{
if (verbose == 1)
printf(" ========================== Call TFP_WR solver with reformulation into Friction-Contact 3D problem ==========================\n");
Global_ipiv = NULL;
Global_MisInverse = 0;
Global_MisLU = 0;
gfc3d_TrescaFixedPoint_wr(problem, reaction , velocity, globalVelocity, &info, options);
break;
}
case SICONOS_GLOBAL_FRICTION_3D_NSGS:
{
Global_ipiv = NULL;
Global_MisInverse = 0;
Global_MisLU = 0;
gfc3d_nsgs(problem, reaction , velocity, globalVelocity,
&info , options);
break;
}
case SICONOS_GLOBAL_FRICTION_3D_NSN_AC:
{
gfc3d_nonsmooth_Newton_AlartCurnier(problem, reaction , velocity,
globalVelocity, &info , options);
break;
}
case SICONOS_GLOBAL_FRICTION_3D_GAMS_PATH:
{
printf(" ========================== Call PATH solver via GAMS for an AVI Friction-Contact 3D problem ==========================\n");
gfc3d_AVI_gams_path(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_GLOBAL_FRICTION_3D_GAMS_PATHVI:
{
printf(" ========================== Call PATHVI solver via GAMS for an AVI Friction-Contact 3D problem ==========================\n");
gfc3d_AVI_gams_pathvi(problem, reaction , globalVelocity, &info, options);
break;
}
default:
{
fprintf(stderr, "Numerics, gfc3d_driver failed. Unknown solver %d.\n", options->solverId);
exit(EXIT_FAILURE);
}
}
return info;
}
void fc3d_nonsmooth_Newton_AlartCurnier2(
FrictionContactProblem* problem,
double *reaction,
double *velocity,
int *info,
SolverOptions *options)
{
assert(problem);
assert(reaction);
assert(velocity);
assert(info);
assert(options);
assert(problem->dimension == 3);
assert(options->iparam);
assert(options->dparam);
assert(problem->q);
assert(problem->mu);
assert(problem->M);
assert(!options->iparam[4]); // only host
AlartCurnierParams acparams;
switch (options->iparam[10])
{
case 0:
{
acparams.computeACFun3x3 = &computeAlartCurnierSTD;
break;
}
case 1:
{
acparams.computeACFun3x3 = &computeAlartCurnierJeanMoreau;
break;
};
case 2:
{
acparams.computeACFun3x3 = &fc3d_AlartCurnierFunctionGenerated;
break;
}
case 3:
{
acparams.computeACFun3x3 = &fc3d_AlartCurnierJeanMoreauFunctionGenerated;
break;
}
}
fc3d_nonsmooth_Newton_solvers equation;
equation.problem = problem;
equation.data = (void *) &acparams;
equation.function = &nonsmoothEqnAlartCurnierFun;
/*************************************************************************
* START NEW STUFF
*/
size_t problemSize = problem->M->size0;
size_t _3problemSize = problemSize + problemSize + problemSize;
FC3D_Newton_data opaque_data;
opaque_data.problem = problem;
opaque_data.equation = &equation;
opaque_data.rho = (double*)calloc(problemSize, sizeof(double));
for (size_t i = 0; i < problemSize; ++i) opaque_data.rho[i] = 1.;
opaque_data.Ax = (double*)calloc(_3problemSize, sizeof(double));
opaque_data.Bx = (double*)calloc(_3problemSize, sizeof(double));
opaque_data.normq = cblas_dnrm2(problemSize, problem->q, 1);
opaque_data.AwpB_data_computed = false;
functions_LSA functions_AC;
init_lsa_functions(&functions_AC, &FC3D_compute_F, &FC3D_compute_F_merit);
functions_AC.compute_H = &FC3D_compute_AWpB;
functions_AC.compute_error = &FC3D_compute_error;
functions_AC.get_set_from_problem_data = NULL;
set_lsa_params_data(options, problem->M);
newton_LSA_param* params = (newton_LSA_param*) options->solverParameters;
params->check_dir_quality = false;
options->iparam[SICONOS_IPARAM_LSA_SEARCH_CRITERION] = SICONOS_LSA_GOLDSTEIN;
// options->iparam[SICONOS_IPARAM_LSA_SEARCH_CRITERION] = SICONOS_LSA_ARMIJO;
/*************************************************************************
* END NEW STUFF
*/
if(options->iparam[SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY] == SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY_VI_EG_NSN)
{
SolverOptions * options_vi_eg =(SolverOptions *)malloc(sizeof(SolverOptions));
fc3d_VI_ExtraGradient_setDefaultSolverOptions(options_vi_eg);
options_vi_eg->iparam[0] = 50;
options_vi_eg->dparam[0] = sqrt(options->dparam[0]);
options_vi_eg->iparam[SICONOS_VI_IPARAM_ERROR_EVALUATION] = SICONOS_VI_ERROR_EVALUATION_LIGHT;
fc3d_VI_ExtraGradient(problem, reaction , velocity , info , options_vi_eg);
solver_options_delete(options_vi_eg);
free(options_vi_eg);
newton_LSA(problemSize, reaction, velocity, info, (void *)&opaque_data, options, &functions_AC);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY] == SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY_NO)
{
newton_LSA(problemSize, reaction, velocity, info, (void *)&opaque_data, options, &functions_AC);
}
else
{
numerics_error("fc3d_nonsmooth_Newton_AlartCurnier","Unknown nsn hybrid solver");
}
free(opaque_data.rho);
free(opaque_data.Ax);
free(opaque_data.Bx);
}
int fc3d_driver(FrictionContactProblem* problem,
double *reaction, double *velocity,
SolverOptions* options)
{
if (options == NULL)
numerics_error("fc3d_driver", "null input for solver options");
assert(options->isSet); /* true(1) if the SolverOptions structure has been filled in else false(0) */
if (verbose > 1)
solver_options_print(options);
int info = -1 ;
if (problem->dimension != 3)
numerics_error("fc3d_driver", "Dimension of the problem : problem-> dimension is not compatible or is not set");
/* Check for trivial case */
info = checkTrivialCase(problem, velocity, reaction, options);
if (info == 0)
{
/* If a trivial solution is found, we set the number of iterations to 0
and the reached acuracy to 0.0 .
Since the indexing of parameters is non uniform, this may have side
effects for some solvers. The two main return parameters iparam[7] and
dparam[1] have to be defined and protected by means of enum*/
options->iparam[7] = 0;
options->dparam[1] = 0.0;
goto exit;
}
switch (options->solverId)
{
/* Non Smooth Gauss Seidel (NSGS) */
case SICONOS_FRICTION_3D_NSGS:
{
numerics_printf(" ========================== Call NSGS solver for Friction-Contact 3D problem ==========================\n");
fc3d_nsgs(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_NSGSV:
{
numerics_printf(" ========================== Call NSGSV solver for Friction-Contact 3D problem ==========================\n");
fc3d_nsgs_velocity(problem, reaction , velocity , &info , options);
break;
}
/* Proximal point algorithm */
case SICONOS_FRICTION_3D_PROX:
{
numerics_printf(" ========================== Call PROX (Proximal Point) solver for Friction-Contact 3D problem ==========================\n");
fc3d_proximal(problem, reaction , velocity , &info , options);
break;
}
/* Tresca Fixed point algorithm */
case SICONOS_FRICTION_3D_TFP:
{
numerics_printf(" ========================== Call TFP (Tresca Fixed Point) solver for Friction-Contact 3D problem ==========================\n");
fc3d_TrescaFixedPoint(problem, reaction , velocity , &info , options);
break;
}
/* ACLM Fixed point algorithm */
case SICONOS_FRICTION_3D_ACLMFP:
{
numerics_printf(" ========================== Call ACLM (Acary Cadoux Lemarechal Malick Fixed Point) solver for Friction-Contact 3D problem ==========================\n");
fc3d_ACLMFixedPoint(problem, reaction , velocity , &info , options);
break;
}
/* SOCLCP Fixed point algorithm */
case SICONOS_FRICTION_3D_SOCLCP:
{
numerics_printf(" ========================== Call SOCLCP solver for Friction-Contact 3D problem (Associated one) ==========================\n");
fc3d_SOCLCP(problem, reaction , velocity , &info , options);
break;
}
/* De Saxce Fixed point algorithm */
case SICONOS_FRICTION_3D_DSFP:
{
numerics_printf(" ========================== Call DeSaxce Fixed Point (DSFP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_DeSaxceFixedPoint(problem, reaction , velocity , &info , options);
break;
}
/* Fixed point projection algorithm */
case SICONOS_FRICTION_3D_FPP:
{
numerics_printf(" ========================== Call Fixed Point Projection (FPP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_fixedPointProjection(problem, reaction , velocity , &info , options);
break;
}
/* Extra Gradient algorithm */
case SICONOS_FRICTION_3D_EG:
{
numerics_printf(" ========================== Call ExtraGradient (EG) solver for Friction-Contact 3D problem ==========================\n");
fc3d_ExtraGradient(problem, reaction , velocity , &info , options);
break;
}
/* VI Fixed Point Projection algorithm */
case SICONOS_FRICTION_3D_VI_FPP:
{
numerics_printf(" ========================== Call VI_FixedPointProjection (VI_FPP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_VI_FixedPointProjection(problem, reaction , velocity , &info , options);
break;
}
/* VI Extra Gradient algorithm */
case SICONOS_FRICTION_3D_VI_EG:
{
numerics_printf(" ========================== Call VI_ExtraGradient (VI_EG) solver for Friction-Contact 3D problem ==========================\n");
fc3d_VI_ExtraGradient(problem, reaction , velocity , &info , options);
break;
}
/* Hyperplane Projection algorithm */
case SICONOS_FRICTION_3D_HP:
{
numerics_printf(" ========================== Call Hyperplane Projection (HP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_HyperplaneProjection(problem, reaction , velocity , &info , options);
break;
}
/* Alart Curnier in local coordinates */
case SICONOS_FRICTION_3D_NSN_AC:
{
numerics_printf(" ========================== Call Alart Curnier solver for Friction-Contact 3D problem ==========================\n");
if (problem->M->matrix0)
{
fc3d_nonsmooth_Newton_AlartCurnier(problem, reaction , velocity , &info , options);
}
else
{
fc3d_nonsmooth_Newton_AlartCurnier(problem, reaction , velocity , &info , options);
}
break;
}
/* Fischer Burmeister in local coordinates */
case SICONOS_FRICTION_3D_NSN_FB:
{
numerics_printf(" ========================== Call Fischer Burmeister solver for Friction-Contact 3D problem ==========================\n");
fc3d_nonsmooth_Newton_FischerBurmeister(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_NSN_NM:
{
numerics_printf(" ========================== Call natural map solver for Friction-Contact 3D problem ==========================\n");
fc3d_nonsmooth_Newton_NaturalMap(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_ONECONTACT_QUARTIC_NU:
case SICONOS_FRICTION_3D_ONECONTACT_QUARTIC:
{
numerics_printf(" ========================== Call Quartic solver for Friction-Contact 3D problem ==========================\n");
fc3d_unitary_enumerative(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_ONECONTACT_NSN:
case SICONOS_FRICTION_3D_ONECONTACT_NSN_GP:
{
numerics_printf(" ========================== Call Newton-based solver for one contact Friction-Contact 3D problem ==========================\n");
fc3d_onecontact_nonsmooth_Newton_solvers_initialize(problem, problem, options);
info = fc3d_onecontact_nonsmooth_Newton_solvers_solve(problem, reaction , options);
break;
}
case SICONOS_FRICTION_3D_ONECONTACT_ProjectionOnConeWithLocalIteration:
{
numerics_printf(" ========================== Call Projection on cone solver for one contact Friction-Contact 3D problem ==========================\n");
fc3d_projectionOnConeWithLocalIteration_initialize(problem, problem, options);
info = fc3d_projectionOnConeWithLocalIteration_solve(problem, reaction , options);
fc3d_projectionOnConeWithLocalIteration_free(problem, problem, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_PATH:
{
numerics_printf(" ========================== Call PATH solver via GAMS for an AVI Friction-Contact 3D problem ==========================\n");
fc3d_AVI_gams_path(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_PATHVI:
{
numerics_printf(" ========================== Call PATHVI solver via GAMS for an AVI Friction-Contact 3D problem ==========================\n");
fc3d_AVI_gams_pathvi(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_LCP_PATH:
{
numerics_printf(" ========================== Call PATH solver via GAMS for an LCP-based reformulation of the AVI Friction-Contact 3D problem ==========================\n");
fc3d_lcp_gams_path(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_LCP_PATHVI:
{
numerics_printf(" ========================== Call PATHVI solver via GAMS for an LCP-based reformulation of the AVI Friction-Contact 3D problem ==========================\n");
fc3d_lcp_gams_pathvi(problem, reaction , velocity, &info, options);
break;
}
default:
{
fprintf(stderr, "Numerics, fc3d_driver failed. Unknown solver.\n");
exit(EXIT_FAILURE);
}
}
exit:
return info;
}
int variationalInequality_driver(VariationalInequality* problem,
double *x, double *w,
SolverOptions* options)
{
if (options == NULL)
numerics_error("variationalInequality_driver", "null input for solver and/or global options");
assert(options->isSet);
if (verbose > 0)
solver_options_print(options);
/* Solver name */
/*char * name = options->solverName;*/
int info = -1 ;
/* Check for trivial case */
info = checkTrivialCase_vi(problem, x, w, options);
if (info == 0){
double error;
variationalInequality_computeError(problem, x , w, options->dparam[0], options, &error);
printf("variationalInequality_driver. error = %8.4e\n", error);
return info;
}
switch (options->solverId)
{
/* Non Smooth Gauss Seidel (NSGS) */
/* Extra Gradient algorithm */
case SICONOS_VI_EG:
{
numerics_printf_verbose(1,
" ========================== Call ExtraGradient (EG) solver for VI problem ==========================\n");
variationalInequality_ExtraGradient(problem, x , w , &info , options);
break;
}
case SICONOS_VI_FPP:
{
numerics_printf_verbose(1,
" ========================== Call Fixed Point Projection (FPP) solver for VI problem ==========================\n");
variationalInequality_FixedPointProjection(problem, x , w , &info , options);
break;
}
case SICONOS_VI_HP:
{
numerics_printf_verbose(1,
" ========================== Call Hyperplane Projection (HP) solver for VI problem ==========================\n");
variationalInequality_HyperplaneProjection(problem, x , w , &info , options);
break;
}
case SICONOS_VI_BOX_QI:
{
variationalInequality_box_newton_QiLSA(problem, x, w, &info, options);
break;
}
case SICONOS_VI_BOX_AVI_LSA:
{
vi_box_AVI_LSA(problem, x, w, &info, options);
break;
}
case SICONOS_VI_BOX_PATH:
{
vi_box_path(problem, x, w, &info, options);
break;
}
default:
{
fprintf(stderr, "Numerics, variationalInequality_driver failed. Unknown solver.\n");
exit(EXIT_FAILURE);
}
}
return info;
}
int soclcp_setDefaultSolverOptions(SolverOptions* options, int solverId)
{
options->iparam = NULL;
options->dparam = NULL;
solver_options_nullify(options);
int info = -1;
switch(solverId)
{
case SICONOS_SOCLCP_NSGS:
{
info = soclcp_nsgs_setDefaultSolverOptions(options);
break;
}
/* case SICONOS_SOCLCP_NSGSV: */
/* { */
/* info = soclcp_nsgs_velocity_setDefaultSolverOptions(options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_*/
/* { */
/* info = soclcp_proximal_setDefaultSolverOptions(options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_TFP: */
/* { */
/* info = soclcp_TrescaFixedPoint_setDefaultSolverOptions(options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_DSFP: */
/* { */
/* info = soclcp_DeSaxceFixedPoint_setDefaultSolverOptions(options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_FPP: */
/* { */
/* info = soclcp_fixedPointProjection_setDefaultSolverOptions(options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_EG: */
/* { */
/* info = soclcp_ExtraGradient_setDefaultSolverOptions(options); */
/* break; */
/* } */
case SICONOS_SOCLCP_VI_FPP:
{
info = soclcp_VI_FixedPointProjection_setDefaultSolverOptions(options);
break;
}
case SICONOS_SOCLCP_VI_EG:
{
info = soclcp_VI_ExtraGradient_setDefaultSolverOptions(options);
break;
}
/* case SICONOS_SOCLCP_HP: */
/* { */
/* info = soclcp_HyperplaneProjection_setDefaultSolverOptions(options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_NSN_AC: */
/* { */
/* info = soclcp_AlartCurnier_setDefaultSolverOptions(options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_NSN_FB: */
/* { */
/* info = soclcp_FischerBurmeister_setDefaultSolverOptions(options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_QUARTIC: */
/* { */
/* info = soclcp_unitary_enumerative_setDefaultSolverOptions(options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_QUARTIC_NU: */
/* { */
/* info = soclcp_unitary_enumerative_setDefaultSolverOptions(options); */
/* options->solverId = SICONOS_SOCLCP_QUARTIC_NU; */
/* break; */
/* } */
default:
{
numerics_error("soclcp_setDefaultSolverOptions", "Unknown Solver");
}
}
return info;
}
