kluwrap.cc

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/libraries/libmbwrap/kluwrap.cc,v 1.8 2014/01/13 08:59:07 masarati Exp $ */
/* 
 * HmFe (C) is a FEM analysis code. 
 *
 * Copyright (C) 1996-2006
 *
 * Marco Morandini  <morandini@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 * This program 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.
 *
 */
/* December 2001 
 * Modified to add a Sparse matrix in row form and to implement methods
 * to be used in the parallel MBDyn Solver.
 *
 * Copyright (C) 2001-2005
 *
 * Giuseppe Quaranta  <quaranta@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *      
 */
/* 
 * MBDyn (C) is a multibody analysis code. 
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2005
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 * 
 *
 * This program 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

/*
 * Umfpack is used by permission; please read its Copyright,
 * License and Availability note.
 */

#include "mbconfig.h"           /* This goes first in every *.c,*.cc file */

#ifdef USE_KLU
#include <cassert>
#include "solman.h"
#include "spmapmh.h"
#include "ccmh.h"
#include "dirccmh.h"
#include "kluwrap.h"
#include "dgeequ.h"

/* KLUSolver - begin */
        
KLUSolver::KLUSolver(const integer &size, const doublereal &dPivot, Scale scale)
: LinearSolver(0),
iSize(size),
Axp(0),
Aip(0),
App(0),
Symbolic(0),
Numeric(0)
{
        klu_defaults(&Control);

        if (dPivot != -1. && (dPivot >= 0. && dPivot <= 1.)) {
                /*
                 * 1.0: true partial pivoting
                 * 0.0: treated as 1.0
                 * 
                 * default: 0.1
                 */
                Control.tol = dPivot;
        }
        // Control.ordering = 1; /* colamd */
        Control.ordering = 0; /* amd */

        switch (scale) {
        case SCALE_UNDEF:
                // use the default value provided by KLU
                break;
        default:
                Control.scale = scale;
        }
}

KLUSolver::~KLUSolver(void)
{
        if (Symbolic) {
                klu_free_symbolic(&Symbolic, &Control);
        }
        ASSERT(Symbolic == 0);
        
        if (Numeric) {
                klu_free_numeric(&Numeric, &Control);
        }
        ASSERT(Numeric == 0);
}

void
KLUSolver::Reset(void)
{
        if (Symbolic) {
                // FIXME: This code might be an performance issue!
                // However if we do not reset the symbolic object
                // the code will fail if zero entries become nonzero
                // during simulation.
                klu_free_symbolic(&Symbolic, &Control);
                ASSERT(Symbolic == 0);
        }

        if (Numeric) {
                klu_free_numeric(&Numeric, &Control);
                ASSERT(Numeric == 0);
        }

        bHasBeenReset = true;
}

void
KLUSolver::Solve(void) const
{
        if (bHasBeenReset) {
                const_cast<KLUSolver *>(this)->Factor();
                bHasBeenReset = false;
        }
                

        /*
         * NOTE: Axp, Aip, App should have been set by * MakeCompactForm()
         */
                
        int ok = klu_solve(Symbolic, Numeric, iSize, 1, LinearSolver::pdRhs, 
                        &Control);
        if (!ok || Control.status != KLU_OK) {
                silent_cerr("KLUWRAP_solve failed" << std::endl);
                
                /* de-allocate memory */
                if (Numeric) {
                        klu_free_numeric(&Numeric, &Control);
                }
                ASSERT(Numeric == 0);

                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
        
}

void
KLUSolver::Factor(void)
{

        /*
         * NOTE: Axp, Aip, App should have been set by * MakeCompactForm()
         */
                
        if (Symbolic == 0 && !bPrepareSymbolic()) {
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (Numeric != 0) {
                int ok;
                ok = klu_refactor(App, Aip, Axp, Symbolic, 
                        Numeric, &Control);
                if (!ok) {
                        // FIXME: might be too late!
                        klu_free_numeric(&Numeric, &Control);
                        klu_free_symbolic(&Symbolic, &Control);
                        if (!bPrepareSymbolic()) {
                                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }
                }
        }
        
        if (Numeric == 0) {
                Numeric = klu_factor(App, Aip, Axp, Symbolic, 
                                &Control);
        }
                        
        if (Control.status != KLU_OK) {
                silent_cerr("KLUWRAP_numeric failed" << std::endl);

                /* de-allocate memory */
                if (Symbolic) {
                        klu_free_symbolic(&Symbolic, &Control);
                }
                if (Numeric) {
                        klu_free_numeric(&Numeric, &Control);
                }
                ASSERT(Symbolic == 0);
                ASSERT(Numeric == 0);

                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

void
KLUSolver::MakeCompactForm(SparseMatrixHandler& mh,
                std::vector<doublereal>& Ax,
                std::vector<integer>& Ai,
                std::vector<integer>& Ac,
                std::vector<integer>& Ap) const
{
        if (!bHasBeenReset) {
                return;
        }
        
        mh.MakeCompressedColumnForm(Ax, Ai, Ap, 0);

        Axp = &(Ax[0]);
        Aip = &(Ai[0]);
        App = &(Ap[0]);
}

bool 
KLUSolver::bPrepareSymbolic(void)
{
        Symbolic = klu_analyze(iSize, App, Aip, &Control);
        if (Control.status != KLU_OK) {
                silent_cerr("KLUWRAP_symbolic failed" << std::endl);

                /* de-allocate memory */
                if (Symbolic) {
                        klu_free_symbolic(&Symbolic, &Control);
                }
                ASSERT(Symbolic == 0);

                return false;
        }

        return true;
}

bool KLUSolver::bGetConditionNumber(doublereal& dCond)
{
        if (Symbolic == 0 || Numeric == 0) { // FIXME: Is it really safe?
                return false;
        }

        const bool bOK = klu_condest(App, Axp, Symbolic, Numeric, &Control);

        dCond = Control.condest;

        return bOK;
}

/* KLUSolver - end */

/* KLUSparseSolutionManager - begin */

KLUSparseSolutionManager::KLUSparseSolutionManager(integer Dim,
                                                                                                   doublereal dPivot,
                                                                                                   const ScaleOpt& s)
: A(Dim),
b(Dim),
bVH(Dim, &b[0]),
scale(s),
pMatScale(0)
{
        KLUSolver::Scale kscale = KLUSolver::SCALE_UNDEF;

        switch (scale.algorithm) {
        case SCALEA_UNDEF:
                scale.when = SCALEW_NEVER;
                break;

        case SCALEA_NONE:
                kscale = KLUSolver::SCALE_NONE;
                scale.when = SCALEW_NEVER;
                break;

        case SCALEA_ROW_MAX:
                kscale = KLUSolver::SCALE_MAX;
                scale.when = SCALEW_NEVER; // Do not scale twice! Use built in scaling from KLU
                break;

        case SCALEA_ROW_SUM:
                kscale = KLUSolver::SCALE_SUM;
                scale.when = SCALEW_NEVER; // Do not scale twice! Use built in scaling from KLU
                break;

        default:
                // Allocate MatrixScale<T> on demand
                kscale = KLUSolver::SCALE_NONE; // Do not scale twice!
        }

        SAFENEWWITHCONSTRUCTOR(pLS, KLUSolver,
                        KLUSolver(Dim, dPivot, kscale));

        (void)pLS->pdSetResVec(&b[0]);
        (void)pLS->pdSetSolVec(&b[0]);
        pLS->SetSolutionManager(this);
}


KLUSparseSolutionManager::~KLUSparseSolutionManager(void)
{
        SAFEDELETE(pMatScale);
}

void
KLUSparseSolutionManager::MatrReset(void)
{
        pLS->Reset();
}

void
KLUSparseSolutionManager::MakeCompressedColumnForm(void)
{
        ScaleMatrixAndRightHandSide(A);

        pLS->MakeCompactForm(A, Ax, Ai, Adummy, Ap);
}

template <typename MH>
void KLUSparseSolutionManager::ScaleMatrixAndRightHandSide(MH& mh)
{
        if (scale.when != SCALEW_NEVER) {
                MatrixScale<MH>& rMatScale = GetMatrixScale<MH>();

                if (pLS->bReset()) {
                        if (!rMatScale.bGetInitialized()
                                || scale.when == SolutionManager::SCALEW_ALWAYS) {
                                // (re)compute
                                rMatScale.ComputeScaleFactors(mh);
                        }
                        // in any case scale matrix and right-hand-side
                        rMatScale.ScaleMatrix(mh);

                        if (silent_err) {
                                rMatScale.Report(std::cerr);
                        }
                }

                rMatScale.ScaleRightHandSide(bVH);
        }
}

template <typename MH>
MatrixScale<MH>& KLUSparseSolutionManager::GetMatrixScale()
{
        if (pMatScale == 0) {
                pMatScale = MatrixScale<MH>::Allocate(scale);
        }

        // Will throw std::bad_cast if the type does not match
        return dynamic_cast<MatrixScale<MH>&>(*pMatScale);
}

void KLUSparseSolutionManager::ScaleSolution(void)
{
        if (scale.when != SCALEW_NEVER) {
                ASSERT(pMatScale != 0);
                // scale solution
                pMatScale->ScaleSolution(bVH);
        }
}

/* Risolve il sistema  Fattorizzazione + Backward Substitution */
void
KLUSparseSolutionManager::Solve(void)
{
        MakeCompressedColumnForm();

        pLS->Solve();

        ScaleSolution();
}

/* Rende disponibile l'handler per la matrice */
MatrixHandler*
KLUSparseSolutionManager::pMatHdl(void) const
{
        return &A;
}

/* Rende disponibile l'handler per il termine noto */
MyVectorHandler*
KLUSparseSolutionManager::pResHdl(void) const
{
        return &bVH;
}

/* Rende disponibile l'handler per la soluzione */
MyVectorHandler*
KLUSparseSolutionManager::pSolHdl(void) const
{
        return &bVH;
}

/* KLUSparseSolutionManager - end */

template <class CC>
KLUSparseCCSolutionManager<CC>::KLUSparseCCSolutionManager(integer Dim,
                doublereal dPivot,
                const ScaleOpt& scale)
: KLUSparseSolutionManager(Dim, dPivot, scale),
CCReady(false),
Ac(0)
{
        NO_OP;
}

template <class CC>
KLUSparseCCSolutionManager<CC>::~KLUSparseCCSolutionManager(void) 
{
        if (Ac) {
                SAFEDELETE(Ac);
        }
}

template <class CC>
void
KLUSparseCCSolutionManager<CC>::MatrReset(void)
{
        pLS->Reset();
}

template <class CC>
void
KLUSparseCCSolutionManager<CC>::MakeCompressedColumnForm(void)
{
        if (!CCReady) {
                pLS->MakeCompactForm(A, Ax, Ai, Adummy, Ap);

                if (Ac == 0) {
                        SAFENEWWITHCONSTRUCTOR(Ac, CC, CC(Ax, Ai, Ap));
                }

                CCReady = true;
        }

        ScaleMatrixAndRightHandSide(*Ac);

}

/* Inizializzatore "speciale" */
template <class CC>
void
KLUSparseCCSolutionManager<CC>::MatrInitialize()
{
        CCReady = false;

        if (Ac) {
                // If a DirCColMatrixHandler is in use and matrix scaling is enabled
                // an uncaught exception (MatrixHandler::ErrRebuildMatrix) will be thrown
                // if zero entries in the matrix become nonzero.
                // For that reason we have to reinitialize Ac!
                SAFEDELETE(Ac);
                Ac = 0;
        }

        MatrReset();
}
        
/* Rende disponibile l'handler per la matrice */
template <class CC>
MatrixHandler*
KLUSparseCCSolutionManager<CC>::pMatHdl(void) const
{
        if (!CCReady) {
                return &A;
        }

        ASSERT(Ac != 0);
        return Ac;
}

template class KLUSparseCCSolutionManager<CColMatrixHandler<0> >;
template class KLUSparseCCSolutionManager<DirCColMatrixHandler<0> >;
/* KLUSparseCCSolutionManager - end */

#endif /* USE_KLU */