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/***************************************************************************
* Copyright (c) 2011 Konstantinos Poulios <logari81@gmail.com> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#ifndef PLANEGCS_SUBSYSTEM_H
#define PLANEGCS_SUBSYSTEM_H
#undef min
#undef max
#include <Eigen/Core>
#include "Constraints.h"
namespace GCS
{
class SubSystem
{
private:
int psize, csize;
std::vector<Constraint*> clist;
VEC_pD plist; // pointers to the original parameters
MAP_pD_pD pmap; // redirection map from the original parameters to pvals
VEC_D pvals; // current variables vector (psize)
// JacobianMatrix jacobi; // jacobi matrix of the residuals
std::map<Constraint*, VEC_pD> c2p; // constraint to parameter adjacency list
std::map<double*, std::vector<Constraint*>> p2c; // parameter to constraint adjacency list
void initialize(VEC_pD& params, MAP_pD_pD& reductionmap); // called by the constructors
public:
SubSystem(std::vector<Constraint*>& clist_, VEC_pD& params);
SubSystem(std::vector<Constraint*>& clist_, VEC_pD& params, MAP_pD_pD& reductionmap);
~SubSystem();
int pSize()
{
return psize;
};
int cSize()
{
return csize;
};
void redirectParams();
void revertParams();
void getParamMap(MAP_pD_pD& pmapOut);
void getParamList(VEC_pD& plistOut);
void getParams(VEC_pD& params, Eigen::VectorXd& xOut);
void getParams(Eigen::VectorXd& xOut);
void setParams(VEC_pD& params, Eigen::VectorXd& xIn);
void setParams(Eigen::VectorXd& xIn);
void getConstraintList(std::vector<Constraint*>& clist_);
double error();
void calcResidual(Eigen::VectorXd& r);
void calcResidual(Eigen::VectorXd& r, double& err);
void calcJacobi(VEC_pD& params, Eigen::MatrixXd& jacobi);
void calcJacobi(Eigen::MatrixXd& jacobi);
void calcGrad(VEC_pD& params, Eigen::VectorXd& grad);
void calcGrad(Eigen::VectorXd& grad);
double maxStep(VEC_pD& params, Eigen::VectorXd& xdir);
double maxStep(Eigen::VectorXd& xdir);
void applySolution();
void analyse(Eigen::MatrixXd& J, Eigen::MatrixXd& ker, Eigen::MatrixXd& img);
void report();
void printResidual();
};
double lineSearch(SubSystem* subsys, Eigen::VectorXd& xdir);
} // namespace GCS
#endif // PLANEGCS_SUBSYSTEM_H
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