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;
}
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);
}
void soclcp_VI_ExtraGradient(SecondOrderConeLinearComplementarityProblem* problem, double *reaction, double *velocity, int* info, SolverOptions* options)
{
/* Dimension of the problem */
int n = problem->n;
VariationalInequality *vi = (VariationalInequality *)malloc(sizeof(VariationalInequality));
//vi.self = &vi;
vi->F = &Function_VI_SOCLCP;
vi->ProjectionOnX = &Projection_VI_SOCLCP;
int iter=0;
double error=1e24;
SecondOrderConeLinearComplementarityProblem_as_VI *soclcp_as_vi= (SecondOrderConeLinearComplementarityProblem_as_VI*)malloc(sizeof(SecondOrderConeLinearComplementarityProblem_as_VI));
vi->env =soclcp_as_vi ;
vi->size = n;
/*Set the norm of the VI to the norm of problem->q */
vi->normVI= cblas_dnrm2(n , problem->q , 1);
vi->istheNormVIset=1;
soclcp_as_vi->vi = vi;
soclcp_as_vi->soclcp = problem;
/* soclcp_display(fc3d_as_vi->fc3d); */
SolverOptions * visolver_options = (SolverOptions *) malloc(sizeof(SolverOptions));
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("size problem in soclcp_VI_ExtraGradient\n");
}
if (dsize != vi_dsize )
{
printf("size problem in soclcp_VI_ExtraGradient\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] ;
}
variationalInequality_ExtraGradient(vi, reaction, velocity , info , visolver_options);
/* **** Criterium convergence **** */
soclcp_compute_error(problem, reaction , velocity, options->dparam[0], options, &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[SICONOS_VI_EG_DPARAM_RHO] = visolver_options->dparam[SICONOS_VI_EG_DPARAM_RHO];
options->iparam[SICONOS_IPARAM_ITER_DONE] = iter;
if (verbose > 0)
{
printf("--------------- SOCLCP - VI Extra Gradient (VI_EG) - #Iteration %i Final Residual = %14.7e\n", iter, error);
}
free(vi);
solver_options_delete(visolver_options);
free(visolver_options);
visolver_options=NULL;
free(soclcp_as_vi);
}
void fc3d_VI_ExtraGradient(FrictionContactProblem* problem, double *reaction, double *velocity, int* info, SolverOptions* options)
{
/* Number of contacts */
int nc = problem->numberOfContacts;
/* Dimension of the problem */
int n = 3 * nc;
VariationalInequality *vi = (VariationalInequality *)malloc(sizeof(VariationalInequality));
//vi.self = &vi;
vi->F = &Function_VI_FC3D;
vi->ProjectionOnX = &Projection_VI_FC3D;
int iter=0;
double error=1e24;
FrictionContactProblem_as_VI *fc3d_as_vi= (FrictionContactProblem_as_VI*)malloc(sizeof(FrictionContactProblem_as_VI));
vi->env =fc3d_as_vi ;
vi->size = n;
/*Set the norm of the VI to the norm of problem->q */
vi->normVI= cblas_dnrm2(n , problem->q , 1);
vi->istheNormVIset=1;
fc3d_as_vi->vi = vi;
fc3d_as_vi->fc3d = problem;
/* frictionContact_display(fc3d_as_vi->fc3d); */
SolverOptions * visolver_options = (SolverOptions *) malloc(sizeof(SolverOptions));
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("size prolem in fc3d_VI_ExtraGradient\n");
}
if (dsize != vi_dsize )
{
printf("size prolem in fc3d_VI_ExtraGradient\n");
}
/* int i; */
/* for (i = 0; i < isize; i++) */
/* { */
/* visolver_options->iparam[i] = options->iparam[i] ; */
/* } */
/* for (i = 0; i < dsize; i++) */
/* { */
/* visolver_options->dparam[i] = options->dparam[i] ; */
/* } */
int i;
for (i = 0; i < isize; i++)
{
if (options->iparam[i] != 0 )
visolver_options->iparam[i] = options->iparam[i] ;
}
for (i = 0; i < dsize; i++)
{
if (fabs(options->dparam[i]) >= 1e-24 )
visolver_options->dparam[i] = options->dparam[i] ;
}
variationalInequality_ExtraGradient(vi, reaction, velocity , info , visolver_options);
/* **** Criterium convergence **** */
fc3d_compute_error(problem, reaction , velocity, options->dparam[0], options, &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[1];
iter = visolver_options->iparam[7];
options->dparam[1] = error;
options->iparam[7] = iter;
if (verbose > 0)
{
printf("----------------------------------- FC3D - VI Extra Gradient (VI_EG) - #Iteration %i Final Residual = %14.7e\n", iter, error);
}
free(vi);
deleteSolverOptions(visolver_options);
free(visolver_options);
visolver_options=NULL;
free(fc3d_as_vi);
}
