int main(int argc, char **argv)
{
// Run all three problems
for (unsigned int n = 0; n < 3; n++)
{
// initialize the planner
og::SimpleSetupPtr ss = setupProblem(PlannerType(n));
// attempt to solve the problem
ob::PlannerStatus solved = ss->solve(10.0);
if (solved)
{
if (solved == ob::PlannerStatus::EXACT_SOLUTION)
std::cout << "Found solution.\n";
else
std::cout << "Found approximate solution.\n";
// Set up to write the path
std::ofstream f(problemName(PlannerType(n)).c_str());
ompl::geometric::PathGeometric p = ss->getSolutionPath();
p.interpolate();
auto upstream(std::make_shared<ob::VFUpstreamCriterionOptimizationObjective>(
ss->getSpaceInformation(), field));
p.printAsMatrix(f);
std::cout << "Total upstream cost: " << p.cost(upstream) << "\n";
}
else
std::cout << "No solution found.\n";
}
return 0;
}
DllExport int STDCALL C__hisCallSolver(void* Cptr)
{
int rc = 1;
char buffer[1024];
gamshighs_t* gh;
HighsStatus status;
gh = (gamshighs_t*)Cptr;
assert(gh->gmo != NULL);
assert(gh->gev != NULL);
gevLogStatPChar(gh->gev, "HiGHS " XQUOTE(HIGHS_VERSION_MAJOR) "." XQUOTE(HIGHS_VERSION_MINOR) "." XQUOTE(HIGHS_VERSION_PATCH) " [date: " HIGHS_COMPILATION_DATE ", git hash: " HIGHS_GITHASH "]\n");
gevLogStatPChar(gh->gev, "Copyright (c) 2019 ERGO-Code under MIT licence terms.\n");
gmoModelStatSet(gh->gmo, gmoModelStat_NoSolutionReturned);
gmoSolveStatSet(gh->gmo, gmoSolveStat_SystemErr);
/* get the problem into a normal form */
gmoObjStyleSet(gh->gmo, gmoObjType_Fun);
gmoObjReformSet(gh->gmo, 1);
gmoIndexBaseSet(gh->gmo, 0);
gmoSetNRowPerm(gh->gmo); /* hide =N= rows */
gmoMinfSet(gh->gmo, -HIGHS_CONST_INF);
gmoPinfSet(gh->gmo, HIGHS_CONST_INF);
if( setupOptions(gh) )
goto TERMINATE;
if( setupProblem(gh) )
goto TERMINATE;
gevTimeSetStart(gh->gev);
/* solve the problem */
status = gh->highs->run();
/* pass solution, status, etc back to GMO */
if( processSolve(gh, status) )
goto TERMINATE;
rc = 0;
TERMINATE:
delete gh->lp;
gh->lp = NULL;
delete gh->highs;
gh->highs= NULL;
delete gh->options;
gh->options = NULL;
return rc;
}
int main(int argc, char **argv)
{
//Initialize MPI
MPI_Init(NULL, NULL);
int whoAmI;
MPI_Comm_rank(MPI_COMM_WORLD, &whoAmI);
// Set up problem
printf("Setting up problem...\n");
fflush(stdout);
double *A = (double*)malloc(sizeof(double)*(M*N)*(M*N));
double *b = (double*)malloc(sizeof(double)*(M*N));
double *x = (double*)malloc(sizeof(double)*(M*N));
setupProblem(A, b, M, N);
memset(x, (char)0, sizeof(double)*M*N);
if (0 == whoAmI)
{
printf("ok\n");
fflush(stdout);
}
// [Debug] Uncomment next line of code for printing a matrix/vector to a file.
// Attention: Only do this for small matrices (i.e. M,N <= 8)!
//printMatrixToFile("A.dat", A, M, N);
if(0 == whoAmI)
{
printf("Solving...\n");
fflush(stdout);
//resetTime();
}
unsigned int iteration;
for (iteration = 0; iteration < MAX_ITERATIONS; )
{
//visualize first, to see initial solution:
if(0 == whoAmI)
{
printf("iterations: %d\n", iteration);
fflush(stdout);
// visualize
unsigned char *pixels;
visualizeMap(x, &pixels, M*N);
// save bitmap
printf("Saving bitmap...");
fflush(stdout);
char filename[64];
sprintf(filename, "images/heatmap%d.bmp", iteration);
if (!saveBMP(filename, pixels, M, N, 0))
{
printf("fail!\n");
fflush(stdout);
return 1;
}
else
{
printf("ok\n");
fflush(stdout);
}
free(pixels);
}
// solve
unsigned int iterationsDone = jacobi_solve(A, b, x, M*N, 10, 0.001);
if (iterationsDone < 10) break;
else iteration += iterationsDone;
}
if(0 == whoAmI)
{
//double timeNeededForSolving = getTime();
//printf("End of computation!\nTime needed for solving: %fs\n", timeNeededForSolving);
}
free(A);
free(b);
free(x);
MPI_Finalize();
return 0;
}
