VectorXd Robot::prediction(VectorXd X){
VectorXd Xs(3);
VectorXf noise = VectorXf::Random(3);
Xs(0)=X(0)+10*noise(0);
Xs(1)=X(1)+10*noise(1);
Xs(2)=X(2)+10*noise(2);
return Xs;
}
void DfHpqX::getHpq(TlDenseSymmetricMatrix_Lapack* pHpq,
TlDenseSymmetricMatrix_Lapack* pHpq2) {
const int numOfAOs = this->m_nNumOfAOs;
// make coordinates
const Fl_Geometry flGeom((*this->pPdfParam_)["coordinates"]);
const int numOfAtoms = flGeom.getNumOfAtoms();
const int numOfDummyAtoms = flGeom.getNumOfDummyAtoms();
const int numOfRealAtoms = numOfAtoms - numOfDummyAtoms;
std::vector<TlAtom> Cs(numOfRealAtoms);
std::vector<TlAtom> Xs(numOfDummyAtoms);
std::size_t realAtomIndex = 0;
std::size_t dummyAtomIndex = 0;
for (int i = 0; i < numOfAtoms; ++i) {
const std::string atomName = flGeom.getAtomSymbol(i);
const TlPosition p = flGeom.getCoordinate(i);
const double charge = flGeom.getCharge(i);
const TlAtom atom(atomName, p, charge);
if (atomName == "X") {
Xs[dummyAtomIndex] = atom;
++dummyAtomIndex;
} else {
Cs[realAtomIndex] = atom;
++realAtomIndex;
}
}
assert(realAtomIndex == Cs.size());
assert(dummyAtomIndex == Xs.size());
pHpq->resize(numOfAOs);
pHpq2->resize(numOfAOs);
this->createEngines();
DfTaskCtrl* pTaskCtrl = this->getDfTaskCtrlObject();
std::vector<DfTaskCtrl::Task2> taskList;
bool hasTask = pTaskCtrl->getQueue2(this->orbitalInfo_, true,
this->grainSize_, &taskList, true);
while (hasTask == true) {
this->getHpq_part(this->orbitalInfo_, taskList, Cs, Xs, pHpq, pHpq2);
hasTask = pTaskCtrl->getQueue2(this->orbitalInfo_, true, this->grainSize_,
&taskList);
}
if (this->chargeExtrapolateNumber_ > 0) {
*pHpq2 /= static_cast<double>(this->chargeExtrapolateNumber_);
}
this->finalize(pHpq, pHpq2);
delete pTaskCtrl;
pTaskCtrl = NULL;
this->destroyEngines();
}
int Ifpack_ShyLU::JustTryIt()
{
// Dummy function, To show the error in AztecOO, This works
//cout << "Entering JustTryIt" << endl;
AztecOO *solver;
solver = slu_data_.innersolver;
//cout << solver_ << endl;
Epetra_Map BsMap(-1, slu_data_.Snr, slu_data_.SRowElems, 0, A_->Comm());
Epetra_MultiVector Xs(BsMap, 1);
Epetra_MultiVector Bs(BsMap, 1);
Xs.PutScalar(0.0);
solver->SetLHS(&Xs);
solver->SetRHS(&Bs);
solver->Iterate(30, 1e-10);
return 0;
}
real BppSolver::columnGeneration(BinPackingProblem& bpp)
{
while (true) // repeat until no column can be added
{
try
{
real masterObjValue = 0.0;
// solve LP master
bool found = BPSolver.solve();
if (found)
{
// master lp lower bound value
masterObjValue = BPSolver.getObjValue();
BPmodel.setDualValues(BPSolver);
// set pricer obj coeficient to dual master values
pricerModel.setObjLinearCoefs(BPmodel.getDualsValues());
}
else {
// master not feasible.
return IloInfinity;
}
#ifdef EXPORT_MODELS
pricerSolver.exportModel("pricer.lp");
#endif
found = pricerSolver.solve();
if (found)
{
// get pricer objectif value Z*
real pricerValue = pricerSolver.getObjValue();
if (pricerValue - 1.0 >= EPS) // then add new column
{
auto& Z = pricerModel.getPrimalValues();
#ifdef DBG_OUTPUT
for (int i = 0; i < nbItems; i++)
std::cout << Z[i] << " ";
std::cout << std::endl;
#endif
// get the set S* such that Zi == 1
IntBin _S;
for (std::size_t i = 0; i < bpp.getNbItems(); i++) {
if (Z[i] >= 1 - EPS)
_S.addItem(i, bpp.getItemWeights()[i]);
}
// make _S maximal
makeBinMaximal(bpp, _S);
// add new bin variable to master
BPmodel.addColumn(_S);
#ifdef EXPORT_MODELS
BPSolver.exportModel("model.lp");
#endif
}
else // no column to add.
{
#ifdef DBG_OUTPUT
std::cout << masterObjValue << std::endl;
IloNumArray Xs(env);
BPSolver.getValues(BPVars, Xs);
for (size_t i = 0; i < BPVars.getSize(); i++)
std::cout << Xs[i] << ", ";
std::cout << std::endl;
Xs.end();
#endif
#ifdef EXPORT_MODEL
BPSolver.exportModel("model.lp");
pricerSolver.exportModel("pricer.lp");
#endif // !EXPORT_MODEL
BPmodel.setPrimalValues(BPSolver);
return masterObjValue;
}
}
else // pricer solution not found
{
}
}
catch (IloException& e) {
std::cout << "IloException rised : " << e << std::endl;
} // TODO exception handling
catch (...) // other errors
{
}
}// END WHILE
}
void parcel::setRelaxationTimes
(
label celli,
scalar& tauMomentum,
scalarField& tauEvaporation,
scalar& tauHeatTransfer,
scalarField& tauBoiling,
const spray& sDB,
const scalar rho,
const vector& Up,
const scalar temperature,
const scalar pressure,
const scalarField& Yfg,
const scalarField& m0,
const scalar dt
)
{
const liquidMixture& fuels = sDB.fuels();
scalar mCell = rho*sDB.mesh().V()[cell()];
scalarField mfg(Yfg*mCell);
label Ns = sDB.composition().Y().size();
label Nf = fuels.components().size();
// Tf is based on the 1/3 rule
scalar Tf = T() + (temperature - T())/3.0;
// calculate mixture properties
scalar W = 0.0;
scalar kMixture = 0.0;
scalar cpMixture = 0.0;
scalar muf = 0.0;
for(label i=0; i<Ns; i++)
{
scalar Y = sDB.composition().Y()[i][celli];
W += Y/sDB.gasProperties()[i].W();
// Using mass-fractions to average...
kMixture += Y*sDB.gasProperties()[i].kappa(Tf);
cpMixture += Y*sDB.gasProperties()[i].Cp(Tf);
muf += Y*sDB.gasProperties()[i].mu(Tf);
}
W = 1.0/W;
scalarField Xf(Nf, 0.0);
scalarField Yf(Nf, 0.0);
scalarField psat(Nf, 0.0);
scalarField msat(Nf, 0.0);
for(label i=0; i<Nf; i++)
{
label j = sDB.liquidToGasIndex()[i];
scalar Y = sDB.composition().Y()[j][celli];
scalar Wi = sDB.gasProperties()[j].W();
Yf[i] = Y;
Xf[i] = Y*W/Wi;
psat[i] = fuels.properties()[i].pv(pressure, temperature);
msat[i] = min(1.0, psat[i]/pressure)*Wi/W;
}
scalar nuf = muf/rho;
scalar liquidDensity = fuels.rho(pressure, T(), X());
scalar liquidcL = fuels.cp(pressure, T(), X());
scalar heatOfVapour = fuels.hl(pressure, T(), X());
// calculate the partial rho of the fuel vapour
// alternative is to use the mass fraction
// however, if rhoFuelVap is small (zero)
// d(mass)/dt = 0 => no evaporation... hmmm... is that good? NO!
// Assume equilibrium at drop-surface => pressure @ surface
// = vapour pressure to calculate fuel-vapour density @ surface
scalar pressureAtSurface = fuels.pv(pressure, T(), X());
scalar rhoFuelVap = pressureAtSurface*fuels.W(X())/(specie::RR*Tf);
scalarField Xs(sDB.fuels().Xs(pressure, temperature, T(), Xf, X()));
scalarField Ys(Nf, 0.0);
scalar Wliq = 0.0;
for(label i=0; i<Nf; i++)
{
label j = sDB.liquidToGasIndex()[i];
scalar Wi = sDB.gasProperties()[j].W();
Wliq += Xs[i]*Wi;
}
for(label i=0; i<Nf; i++)
{
label j = sDB.liquidToGasIndex()[i];
scalar Wi = sDB.gasProperties()[j].W();
Ys[i] = Xs[i]*Wi/Wliq;
}
scalar Reynolds = Re(Up, nuf);
scalar Prandtl = Pr(cpMixture, muf, kMixture);
// calculate the characteritic times
if(liquidCore_> 0.5)
{
// no drag for parcels in the liquid core..
tauMomentum = GREAT;
}
else
{
tauMomentum = sDB.drag().relaxationTime
(
Urel(Up),
d(),
rho,
liquidDensity,
nuf,
dev()
);
}
// store the relaxationTime since it is needed in some breakup models.
tMom_ = tauMomentum;
tauHeatTransfer = sDB.heatTransfer().relaxationTime
(
liquidDensity,
d(),
liquidcL,
kMixture,
Reynolds,
Prandtl
);
// evaporation-properties are evaluated at averaged temperature
// set the boiling conditions true if pressure @ surface is 99.9%
// of the pressure
// this is mainly to put a limit on the evaporation time,
// since tauEvaporation is very very small close to the boiling point.
for(label i=0; i<Nf; i++)
{
scalar Td = min(T(), 0.999*fuels.properties()[i].Tc());
bool boiling = fuels.properties()[i].pv(pressure, Td) >= 0.999*pressure;
scalar Di = fuels.properties()[i].D(pressure, Td);
scalar Schmidt = Sc(nuf, Di);
scalar partialPressure = Xf[i]*pressure;
// saturated vapour
if(partialPressure > psat[i])
{
tauEvaporation[i] = GREAT;
}
// not saturated vapour
else
{
if (!boiling)
{
// for saturation evaporation, only use 99.99% for numerical robustness
scalar dm = max(SMALL, 0.9999*msat[i] - mfg[i]);
tauEvaporation[i] = sDB.evaporation().relaxationTime
(
d(),
fuels.properties()[i].rho(pressure, Td),
rhoFuelVap,
Di,
Reynolds,
Schmidt,
Xs[i],
Xf[i],
m0[i],
dm,
dt
);
}
else
{
scalar Nusselt =
sDB.heatTransfer().Nu(Reynolds, Prandtl);
// calculating the boiling temperature of the liquid at ambient pressure
scalar tBoilingSurface = Td;
label Niter = 0;
scalar deltaT = 10.0;
scalar dp0 = fuels.properties()[i].pv(pressure, tBoilingSurface) - pressure;
while ((Niter < 200) && (mag(deltaT) > 1.0e-3))
{
Niter++;
scalar pBoil = fuels.properties()[i].pv(pressure, tBoilingSurface);
scalar dp = pBoil - pressure;
if ( (dp > 0.0) && (dp0 > 0.0) )
{
tBoilingSurface -= deltaT;
}
else
{
if ( (dp < 0.0) && (dp0 < 0.0) )
{
tBoilingSurface += deltaT;
}
else
{
deltaT *= 0.5;
if ( (dp > 0.0) && (dp0 < 0.0) )
{
tBoilingSurface -= deltaT;
}
else
{
tBoilingSurface += deltaT;
}
}
}
dp0 = dp;
}
scalar vapourSurfaceEnthalpy = 0.0;
scalar vapourFarEnthalpy = 0.0;
for(label k = 0; k < sDB.gasProperties().size(); k++)
{
vapourSurfaceEnthalpy += sDB.composition().Y()[k][celli]*sDB.gasProperties()[k].H(tBoilingSurface);
vapourFarEnthalpy += sDB.composition().Y()[k][celli]*sDB.gasProperties()[k].H(temperature);
}
scalar kLiquid = fuels.properties()[i].K(pressure, 0.5*(tBoilingSurface+T()));
tauBoiling[i] = sDB.evaporation().boilingTime
(
fuels.properties()[i].rho(pressure, Td),
fuels.properties()[i].cp(pressure, Td),
heatOfVapour,
kMixture,
Nusselt,
temperature - T(),
d(),
liquidCore(),
sDB.runTime().value() - ct(),
Td,
tBoilingSurface,
vapourSurfaceEnthalpy,
vapourFarEnthalpy,
cpMixture,
temperature,
kLiquid
);
}
}
}
}
void PSSinthesis::Sinthesis(double s)
{
hops[Qcolumn-1] = round(hopa*(pow(2,(s/12))));
//Some declaration
int L;
L = N;
for (int i=0; i< Qcolumn-1; i++)
L = L + hops[i];
double r;
int n1;
int n2;
double n3;
//Some inicialization
ysaida2 = &ysaida[L-N];
// We can divide the code in two here
Phi = PhiPrevious + (hops[Qcolumn-1])*omega_true_sobre_fs[0] ;
for (int i=0; i<(N/2 + 1); i++)
Xs(i) = ExponencialComplexa(Phi(i));
Xs = Xa_abs[0] % Xs;
PhiPrevious = Phi;
for (int i=0; i<(N/2 + 1); i++)
{
fXs[i][0] = real(Xs(i));
fXs[i][1] = imag(Xs(i));
}
/*Synthesis*/
if (p2) fftwf_execute(p2);
double norm = N*sqrt( N/(2.0*hops[Qcolumn-1]) );
for (int i=0; i<N; i++)
q[i] = q[i]*w[0](i)/norm;
if (first == true)
{
first = false;
fill_n(ysaida,L-N,0);
for (int i=L-N; i<L; i++)
ysaida[i] = q[i-(L-N)];
}
else
{
for (int i=L-N; i<L; i++)
ysaida[i] = ysaida[i] + q[i-(L-N)];
}
//Linear interpolation
r = hops[Qcolumn-1]/(1.0*hopa);
for (int n=0; n < hopa; n++)
{
n3 = n*r+1;
n1 = floor(n3);
n2 = ceil(n3);
yshift[n] = ysaida2[n1] + (ysaida2[n2]-ysaida2[n1])*(n3 - n1);
}
//Shift ysaida hops[0] left
for (int i=0; i<L-hops[0]; i++)
ysaida[i] = ysaida[i+hops[0]];
for (int i=L-hops[0]; i<L; i++)
ysaida[i] = 0;
}
void PitchDetection::FindNote()
{
for (int i=0; i<N; i++)
{
frames[N+i] = 0;
}
if (p) fftwf_execute(p);
for (int i=0; i<(N + 1); i++)
{
Xa(i) = cx_float(fXa[i][0], fXa[i][1]);
}
Xs = Xa % conj(Xa);
for (int i=0; i<(N + 1); i++)
{
fXs[i][0] = real(Xs(i));
fXs[i][1] = imag(Xs(i));
}
if (p2) fftwf_execute(p2);
for (int i=0; i<N; i++)
{
R(i) = q[i]/(2*N);
}
NORM.zeros();
NORM(0) = 2*R(0);
for (int i=1; i<N; i++)
{
NORM(i) = NORM(i-1) - pow(frames[i-1],2)- pow(frames[N-i],2);
}
for (int i=0; i<N; i++)
{
F(i) = 1 -0.05*i/(N-1);
}
AUTO = ( 2*F % R )/NORM;
int flag = 0;
for (int i=0; (i<N)&&(flag==0); i++)
{
if( AUTO(i) > 0 )
{
AUTO(i) = 0;
}
else
{
flag = 1;
}
}
uword max_index;
double fidelity = AUTO.max(max_index);
if ((fidelity > 0.95) && (fidelity < 1) && ((int)max_index < N-1))
{
double a = AUTO(max_index-1);
double b = AUTO(max_index);
double c = AUTO(max_index+1);
double real_index = max_index + 0.5*(a-c)/(a-2*b+c);
f = fs/real_index;
int nota = (int)round( (12/log(2))*log(f/16.351597831287414) );
oitava = floor(nota/12.0);
note = nota % 12;
//cout << "nota = " << note[0] << " oitava = " << oitava[0] << " fidelity = " << fidelity << "\n";
}
}
int shylu_dist_solve<Epetra_CrsMatrix,Epetra_MultiVector>(
shylu_symbolic<Epetra_CrsMatrix,Epetra_MultiVector> *ssym,
shylu_data<Epetra_CrsMatrix,Epetra_MultiVector> *data,
shylu_config<Epetra_CrsMatrix,Epetra_MultiVector> *config,
const Epetra_MultiVector& X,
Epetra_MultiVector& Y
)
{
int err;
AztecOO *solver = 0;
assert(X.Map().SameAs(Y.Map()));
//assert(X.Map().SameAs(A_->RowMap()));
const Epetra_MultiVector *newX;
newX = &X;
//rd_->redistribute(X, newX);
int nvectors = newX->NumVectors();
// May have to use importer/exporter
Epetra_Map BsMap(-1, data->Snr, data->SRowElems, 0, X.Comm());
Epetra_Map BdMap(-1, data->Dnr, data->DRowElems, 0, X.Comm());
Epetra_MultiVector Bs(BsMap, nvectors);
Epetra_Import BsImporter(BsMap, newX->Map());
assert(BsImporter.SourceMap().SameAs(newX->Map()));
assert((newX->Map()).SameAs(BsImporter.SourceMap()));
Bs.Import(*newX, BsImporter, Insert);
Epetra_MultiVector Xs(BsMap, nvectors);
Epetra_SerialComm LComm; // Use Serial Comm for the local vectors.
Epetra_Map LocalBdMap(-1, data->Dnr, data->DRowElems, 0, LComm);
Epetra_MultiVector localrhs(LocalBdMap, nvectors);
Epetra_MultiVector locallhs(LocalBdMap, nvectors);
Epetra_MultiVector Z(BdMap, nvectors);
Epetra_MultiVector Bd(BdMap, nvectors);
Epetra_Import BdImporter(BdMap, newX->Map());
assert(BdImporter.SourceMap().SameAs(newX->Map()));
assert((newX->Map()).SameAs(BdImporter.SourceMap()));
Bd.Import(*newX, BdImporter, Insert);
int lda;
double *values;
err = Bd.ExtractView(&values, &lda);
assert (err == 0);
int nrows = ssym->C->RowMap().NumMyElements();
// copy to local vector //TODO: OMP ?
assert(lda == nrows);
for (int v = 0; v < nvectors; v++)
{
for (int i = 0; i < nrows; i++)
{
err = localrhs.ReplaceMyValue(i, v, values[i+v*lda]);
assert (err == 0);
}
}
// TODO : Do we need to reset the lhs and rhs here ?
if (config->amesosForDiagonal)
{
ssym->LP->SetRHS(&localrhs);
ssym->LP->SetLHS(&locallhs);
ssym->Solver->Solve();
}
else
{
ssym->ifSolver->ApplyInverse(localrhs, locallhs);
}
err = locallhs.ExtractView(&values, &lda);
assert (err == 0);
// copy to distributed vector //TODO: OMP ?
assert(lda == nrows);
for (int v = 0; v < nvectors; v++)
{
for (int i = 0; i < nrows; i++)
{
err = Z.ReplaceMyValue(i, v, values[i+v*lda]);
assert (err == 0);
}
}
Epetra_MultiVector temp1(BsMap, nvectors);
ssym->R->Multiply(false, Z, temp1);
Bs.Update(-1.0, temp1, 1.0);
Xs.PutScalar(0.0);
Epetra_LinearProblem Problem(data->Sbar.get(), &Xs, &Bs);
if (config->schurSolver == "Amesos")
{
Amesos_BaseSolver *solver2 = data->dsolver;
data->LP2->SetLHS(&Xs);
data->LP2->SetRHS(&Bs);
//cout << "Calling solve *****************************" << endl;
solver2->Solve();
//cout << "Out of solve *****************************" << endl;
}
else
{
if (config->libName == "Belos")
{
solver = data->innersolver;
solver->SetLHS(&Xs);
solver->SetRHS(&Bs);
}
else
{
// See the comment above on why we are not able to reuse the solver
// when outer solve is AztecOO as well.
solver = new AztecOO();
//solver.SetPrecOperator(precop_);
solver->SetAztecOption(AZ_solver, AZ_gmres);
// Do not use AZ_none
solver->SetAztecOption(AZ_precond, AZ_dom_decomp);
//solver->SetAztecOption(AZ_precond, AZ_none);
//solver->SetAztecOption(AZ_precond, AZ_Jacobi);
////solver->SetAztecOption(AZ_precond, AZ_Neumann);
//solver->SetAztecOption(AZ_overlap, 3);
//solver->SetAztecOption(AZ_subdomain_solve, AZ_ilu);
//solver->SetAztecOption(AZ_output, AZ_all);
//solver->SetAztecOption(AZ_diagnostics, AZ_all);
solver->SetProblem(Problem);
}
// What should be a good inner_tolerance :-) ?
solver->Iterate(config->inner_maxiters, config->inner_tolerance);
}
Epetra_MultiVector temp(BdMap, nvectors);
ssym->C->Multiply(false, Xs, temp);
temp.Update(1.0, Bd, -1.0);
//Epetra_SerialComm LComm; // Use Serial Comm for the local vectors.
//Epetra_Map LocalBdMap(-1, data->Dnr, data->DRowElems, 0, LComm);
//Epetra_MultiVector localrhs(LocalBdMap, nvectors);
//Epetra_MultiVector locallhs(LocalBdMap, nvectors);
//int lda;
//double *values;
err = temp.ExtractView(&values, &lda);
assert (err == 0);
//int nrows = data->Cptr->RowMap().NumMyElements();
// copy to local vector //TODO: OMP ?
assert(lda == nrows);
for (int v = 0; v < nvectors; v++)
{
for (int i = 0; i < nrows; i++)
{
err = localrhs.ReplaceMyValue(i, v, values[i+v*lda]);
assert (err == 0);
}
}
if (config->amesosForDiagonal)
{
ssym->LP->SetRHS(&localrhs);
ssym->LP->SetLHS(&locallhs);
ssym->Solver->Solve();
}
else
{
ssym->ifSolver->ApplyInverse(localrhs, locallhs);
}
err = locallhs.ExtractView(&values, &lda);
assert (err == 0);
// copy to distributed vector //TODO: OMP ?
assert(lda == nrows);
for (int v = 0; v < nvectors; v++)
{
for (int i = 0; i < nrows; i++)
{
err = temp.ReplaceMyValue(i, v, values[i+v*lda]);
assert (err == 0);
}
}
// For checking faults
//if (NumApplyInverse_ == 5) temp.ReplaceMyValue(0, 0, 0.0);
Epetra_Export XdExporter(BdMap, Y.Map());
Y.Export(temp, XdExporter, Insert);
Epetra_Export XsExporter(BsMap, Y.Map());
Y.Export(Xs, XsExporter, Insert);
if (config->libName == "Belos" || config->schurSolver == "Amesos")
{
// clean up
}
else
{
delete solver;
}
return 0;
}//end shylu_dist_solve <epetra,epetra>