// explicit Runge-Kutta step function
func erk_step(o *ODE, y []float64, x float64, args ...interface{}) (rerr float64, err error) {
for i := 0; i < o.nstg; i++ {
o.u[i] = x + o.h*o.erkdat.c[i]
la.VecCopy(o.v[i], 1, y)
for j := 0; j < i; j++ {
la.VecAdd(o.v[i], o.h*o.erkdat.a[i][j], o.f[j])
}
if i == 0 && o.erkdat.usefp && !o.first {
la.VecCopy(o.f[i], 1, o.f[o.nstg-1])
} else {
o.nfeval += 1
err = o.fcn(o.f[i], o.u[i], o.v[i], args...)
if err != nil {
return
}
}
}
var lerrm float64 // m component of local error estimate
for m := 0; m < o.ndim; m++ {
lerrm = 0.0
for i := 0; i < o.nstg; i++ {
o.w[0][m] += o.erkdat.b[i] * o.f[i][m] * o.h
lerrm += (o.erkdat.be[i] - o.erkdat.b[i]) * o.f[i][m] * o.h
}
rerr += math.Pow(lerrm/o.scal[m], 2.0)
}
rerr = max(math.Sqrt(rerr/float64(o.ndim)), 1.0e-10)
return
}
// Draw draws or save figure with plot
// dirout -- directory to save figure
// fname -- file name; e.g. myplot.eps or myplot.png. Use "" to skip saving
// show -- shows figure
// extra -- is called just after Subplot command and before any plotting
// Note: subplots will be split if using 'eps' files
func Draw(dirout, fname string, show bool, extra ExtraPlt) {
var fnk string // filename key
var ext string // extension
var eps bool // is eps figure
if fname != "" {
fnk = io.FnKey(fname)
ext = io.FnExt(fname)
eps = ext == ".eps"
}
nplots := len(Splots)
nr, nc := utl.BestSquare(nplots)
var k int
for i := 0; i < nr; i++ {
for j := 0; j < nc; j++ {
if !eps {
plt.Subplot(nr, nc, k+1)
}
if extra != nil {
extra(i+1, j+1, nplots)
}
if Splots[k].Title != "" {
plt.Title(Splots[k].Title, Splots[k].Topts)
}
data := Splots[k].Data
for _, d := range data {
if d.Style.L == "" {
d.Style.L = d.Alias
}
x, y := d.X, d.Y
if math.Abs(Splots[k].Xscale) > 0 {
x = make([]float64, len(d.X))
la.VecCopy(x, Splots[k].Xscale, d.X)
}
if math.Abs(Splots[k].Yscale) > 0 {
y = make([]float64, len(d.Y))
la.VecCopy(y, Splots[k].Yscale, d.Y)
}
plt.Plot(x, y, d.Style.GetArgs("clip_on=0"))
}
plt.Gll(Splots[k].Xlbl, Splots[k].Ylbl, Splots[k].GllArgs)
if eps {
savefig(dirout, fnk, ext, k)
plt.Clf()
}
k += 1
}
}
if !eps && fname != "" {
savefig(dirout, fnk, ext, -1)
}
if show {
plt.Show()
}
}
func TestJacobian03(tst *testing.T) {
//verbose()
chk.PrintTitle("TestJacobian 03")
// grid
var g fdm.Grid2D
//g.Init(1.0, 1.0, 4, 4)
g.Init(1.0, 1.0, 6, 6)
//g.Init(1.0, 1.0, 11, 11)
// equations numbering
var e fdm.Equations
peq := utl.IntUnique(g.L, g.R, g.B, g.T)
e.Init(g.N, peq)
// K11 and K12
var K11, K12 la.Triplet
fdm.InitK11andK12(&K11, &K12, &e)
// assembly
F1 := make([]float64, e.N1)
fdm.Assemble(&K11, &K12, F1, nil, &g, &e)
// prescribed values
U2 := make([]float64, e.N2)
for _, eq := range g.L {
U2[e.FR2[eq]] = 50.0
}
for _, eq := range g.R {
U2[e.FR2[eq]] = 0.0
}
for _, eq := range g.B {
U2[e.FR2[eq]] = 0.0
}
for _, eq := range g.T {
U2[e.FR2[eq]] = 50.0
}
// functions
k11 := K11.ToMatrix(nil)
k12 := K12.ToMatrix(nil)
ffcn := func(fU1, U1 []float64) error { // K11*U1 + K12*U2 - F1
la.VecCopy(fU1, -1, F1) // fU1 := (-F1)
la.SpMatVecMulAdd(fU1, 1, k11, U1) // fU1 += K11*U1
la.SpMatVecMulAdd(fU1, 1, k12, U2) // fU1 += K12*U2
return nil
}
Jfcn := func(dfU1dU1 *la.Triplet, U1 []float64) error {
fdm.Assemble(dfU1dU1, &K12, F1, nil, &g, &e)
return nil
}
U1 := make([]float64, e.N1)
CompareJac(tst, ffcn, Jfcn, U1, 0.0075)
print_jac := false
if print_jac {
W1 := make([]float64, e.N1)
fU1 := make([]float64, e.N1)
ffcn(fU1, U1)
var Jnum la.Triplet
Jnum.Init(e.N1, e.N1, e.N1*e.N1)
Jacobian(&Jnum, ffcn, U1, fU1, W1)
la.PrintMat("K11 ", K11.ToMatrix(nil).ToDense(), "%g ", false)
la.PrintMat("Jnum", Jnum.ToMatrix(nil).ToDense(), "%g ", false)
}
test_ffcn := false
if test_ffcn {
Uc := []float64{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 50.0, 25.0, 325.0 / 22.0, 100.0 / 11.0, 50.0 / 11.0,
0.0, 50.0, 775.0 / 22.0, 25.0, 375.0 / 22.0, 100.0 / 11.0, 0.0, 50.0, 450.0 / 11.0, 725.0 / 22.0,
25.0, 325.0 / 22.0, 0.0, 50.0, 500.0 / 11.0, 450.0 / 11.0, 775.0 / 22.0, 25.0, 0.0, 50.0, 50.0,
50.0, 50.0, 50.0, 50.0,
}
for i := 0; i < e.N1; i++ {
U1[i] = Uc[e.RF1[i]]
}
fU1 := make([]float64, e.N1)
min, max := la.VecMinMax(fU1)
io.Pf("min/max fU1 = %v\n", min, max)
}
}
// backward-Euler
func bweuler_step(o *ODE, y []float64, x float64, args ...interface{}) (rerr float64, err error) {
// new x
x += o.h
// previous y
la.VecCopy(o.v[0], 1, y) // v := y_old
// iterations
var rmsnr float64 // rms norm of residual
var it int
for it = 0; it < o.NmaxIt; it++ {
// max iterations ?
o.nit = it + 1
if o.nit > o.nitmax {
o.nitmax = o.nit
}
// calculate f @ update y
o.nfeval += 1
err = o.fcn(o.f[0], x, y, args...)
if err != nil {
return
}
// calculate residual
rmsnr = 0.0
for i := 0; i < o.ndim; i++ {
o.w[0][i] = y[i] - o.v[0][i] - o.h*o.f[0][i] // w := residual
if o.UseRmsNorm {
rmsnr += math.Pow(o.w[0][i]/o.scal[i], 2.0)
} else {
rmsnr += o.w[0][i] * o.w[0][i]
}
}
if o.UseRmsNorm {
rmsnr = math.Sqrt(rmsnr / float64(o.ndim))
} else {
rmsnr = math.Sqrt(rmsnr)
}
if o.Verbose {
io.Pfgrey(" residual = %10.5e (tol = %10.5e)\n", rmsnr, o.fnewt)
}
// converged
if rmsnr < o.fnewt {
break
}
// Jacobian matrix
if o.doinit || !o.CteTg {
o.njeval += 1
// calculate Jacobian
if o.jac == nil { // numerical
err = num.Jacobian(&o.dfdyT, func(fy, yy []float64) (e error) {
e = o.fcn(fy, x, yy, args...)
return
}, y, o.f[0], o.δw[0], o.Distr) // δw works here as workspace variable
} else { // analytical
err = o.jac(&o.dfdyT, x, y, args...)
}
if err != nil {
return
}
// debug
//if true {
//io.Pfblue2("J = %v\n", o.dfdyT.ToMatrix(nil).ToDense()[0])
//}
if o.doinit {
o.rctriR = new(la.Triplet)
o.rctriR.Init(o.ndim, o.ndim, o.mTri.Len()+o.dfdyT.Len())
}
// calculate drdy matrix
la.SpTriAdd(o.rctriR, 1, o.mTri, -o.h, &o.dfdyT) // rctriR := I - h * dfdy
//la.PrintMat("rcmat", o.rctriR.ToMatrix(nil).ToDense(), "%8.3f", false)
// initialise linear solver
if o.doinit {
err = o.lsolR.InitR(o.rctriR, false, false, false)
if err != nil {
return
}
}
// perform factorisation
o.ndecomp += 1
o.lsolR.Fact()
}
// solve linear system
o.nlinsol += 1
o.lsolR.SolveR(o.δw[0], o.w[0], false) // δw := inv(rcmat) * residual
// update y
for i := 0; i < o.ndim; i++ {
y[i] -= o.δw[0][i]
}
}
// did not converge
if it == o.NmaxIt-1 {
chk.Panic("bweuler_step failed with it = %d", it)
}
return 1e+20, err // must not be used with automatic substepping
}
func erk_accept(o *ODE, y []float64) {
la.VecCopy(y, 1, o.w[0]) // update y
}
func Test_nls04(tst *testing.T) {
//verbose()
chk.PrintTitle("nls04. finite differences problem")
// grid
var g fdm.Grid2D
g.Init(1.0, 1.0, 6, 6)
// equations numbering
var e fdm.Equations
peq := utl.IntUnique(g.L, g.R, g.B, g.T)
e.Init(g.N, peq)
// K11 and K12
var K11, K12 la.Triplet
fdm.InitK11andK12(&K11, &K12, &e)
// assembly
F1 := make([]float64, e.N1)
fdm.Assemble(&K11, &K12, F1, nil, &g, &e)
// prescribed values
U2 := make([]float64, e.N2)
for _, eq := range g.L {
U2[e.FR2[eq]] = 50.0
}
for _, eq := range g.R {
U2[e.FR2[eq]] = 0.0
}
for _, eq := range g.B {
U2[e.FR2[eq]] = 0.0
}
for _, eq := range g.T {
U2[e.FR2[eq]] = 50.0
}
// functions
k11 := K11.ToMatrix(nil)
k12 := K12.ToMatrix(nil)
ffcn := func(fU1, U1 []float64) error { // K11*U1 + K12*U2 - F1
la.VecCopy(fU1, -1, F1) // fU1 := (-F1)
la.SpMatVecMulAdd(fU1, 1, k11, U1) // fU1 += K11*U1
la.SpMatVecMulAdd(fU1, 1, k12, U2) // fU1 += K12*U2
return nil
}
Jfcn := func(dfU1dU1 *la.Triplet, U1 []float64) error {
fdm.Assemble(dfU1dU1, &K12, F1, nil, &g, &e)
return nil
}
JfcnD := func(dfU1dU1 [][]float64, U1 []float64) error {
la.MatCopy(dfU1dU1, 1, K11.ToMatrix(nil).ToDense())
return nil
}
prms := map[string]float64{
"atol": 1e-8,
"rtol": 1e-8,
"ftol": 1e-12,
"lSearch": 0.0,
}
// init
var nls_sps NlSolver // sparse analytical
var nls_num NlSolver // sparse numerical
var nls_den NlSolver // dense analytical
nls_sps.Init(e.N1, ffcn, Jfcn, nil, false, false, prms)
nls_num.Init(e.N1, ffcn, nil, nil, false, true, prms)
nls_den.Init(e.N1, ffcn, nil, JfcnD, true, false, prms)
defer nls_sps.Clean()
defer nls_num.Clean()
defer nls_den.Clean()
// results
U1sps := make([]float64, e.N1)
U1num := make([]float64, e.N1)
U1den := make([]float64, e.N1)
Usps := make([]float64, e.N)
Unum := make([]float64, e.N)
Uden := make([]float64, e.N)
// solution
Uc := []float64{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 50.0, 25.0, 325.0 / 22.0, 100.0 / 11.0, 50.0 / 11.0,
0.0, 50.0, 775.0 / 22.0, 25.0, 375.0 / 22.0, 100.0 / 11.0, 0.0, 50.0, 450.0 / 11.0, 725.0 / 22.0,
25.0, 325.0 / 22.0, 0.0, 50.0, 500.0 / 11.0, 450.0 / 11.0, 775.0 / 22.0, 25.0, 0.0, 50.0, 50.0,
50.0, 50.0, 50.0, 50.0,
}
io.PfYel("\n---- sparse -------- Analytical Jacobian -------------------\n")
// solve
err := nls_sps.Solve(U1sps, false)
if err != nil {
chk.Panic(err.Error())
}
// check
fdm.JoinVecs(Usps, U1sps, U2, &e)
chk.Vector(tst, "Usps", 1e-14, Usps, Uc)
// plot
if false {
g.Contour("results", "fig_t_heat_square", nil, Usps, 11, false)
}
io.PfYel("\n---- dense -------- Analytical Jacobian -------------------\n")
// solve
err = nls_den.Solve(U1den, false)
if err != nil {
chk.Panic(err.Error())
}
// check
fdm.JoinVecs(Uden, U1den, U2, &e)
chk.Vector(tst, "Uden", 1e-14, Uden, Uc)
io.PfYel("\n---- sparse -------- Numerical Jacobian -------------------\n")
// solve
err = nls_num.Solve(U1num, false)
if err != nil {
chk.Panic(err.Error())
}
// check
fdm.JoinVecs(Unum, U1num, U2, &e)
chk.Vector(tst, "Unum", 1e-14, Unum, Uc)
}
// Radau5 step function
func radau5_step_mpi(o *Solver, y0 []float64, x0 float64, args ...interface{}) (rerr float64, err error) {
// factors
α := r5.α_ / o.h
β := r5.β_ / o.h
γ := r5.γ_ / o.h
// Jacobian and decomposition
if o.reuseJdec {
o.reuseJdec = false
} else {
// calculate only first Jacobian for all iterations (simple/modified Newton's method)
if o.reuseJ {
o.reuseJ = false
} else if !o.jacIsOK {
// Jacobian triplet
if o.jac == nil { // numerical
//if x0 == 0.0 { io.Pfgrey(" > > > > > > > > . . . numerical Jacobian . . . < < < < < < < < <\n") }
err = num.JacobianMpi(&o.dfdyT, func(fy, y []float64) (e error) {
e = o.fcn(fy, o.h, x0, y, args...)
return
}, y0, o.f0, o.w[0], o.Distr) // w works here as workspace variable
} else { // analytical
//if x0 == 0.0 { io.Pfgrey(" > > > > > > > > . . . analytical Jacobian . . . < < < < < < < < <\n") }
err = o.jac(&o.dfdyT, o.h, x0, y0, args...)
}
if err != nil {
return
}
// create M matrix
if o.doinit && !o.hasM {
o.mTri = new(la.Triplet)
if o.Distr {
id, sz := mpi.Rank(), mpi.Size()
start, endp1 := (id*o.ndim)/sz, ((id+1)*o.ndim)/sz
o.mTri.Init(o.ndim, o.ndim, endp1-start)
for i := start; i < endp1; i++ {
o.mTri.Put(i, i, 1.0)
}
} else {
o.mTri.Init(o.ndim, o.ndim, o.ndim)
for i := 0; i < o.ndim; i++ {
o.mTri.Put(i, i, 1.0)
}
}
}
o.njeval += 1
o.jacIsOK = true
}
// initialise triplets
if o.doinit {
o.rctriR = new(la.Triplet)
o.rctriC = new(la.TripletC)
o.rctriR.Init(o.ndim, o.ndim, o.mTri.Len()+o.dfdyT.Len())
xzmono := o.Distr
o.rctriC.Init(o.ndim, o.ndim, o.mTri.Len()+o.dfdyT.Len(), xzmono)
}
// update triplets
la.SpTriAdd(o.rctriR, γ, o.mTri, -1, &o.dfdyT) // rctriR := γ*M - dfdy
la.SpTriAddR2C(o.rctriC, α, β, o.mTri, -1, &o.dfdyT) // rctriC := (α+βi)*M - dfdy
// initialise solver
if o.doinit {
err = o.lsolR.InitR(o.rctriR, false, false, false)
if err != nil {
return
}
err = o.lsolC.InitC(o.rctriC, false, false, false)
if err != nil {
return
}
}
// perform factorisation
o.lsolR.Fact()
o.lsolC.Fact()
o.ndecomp += 1
}
// updated u[i]
o.u[0] = x0 + r5.c[0]*o.h
o.u[1] = x0 + r5.c[1]*o.h
o.u[2] = x0 + r5.c[2]*o.h
// (trial/initial) updated z[i] and w[i]
if o.first || o.ZeroTrial {
for m := 0; m < o.ndim; m++ {
o.z[0][m], o.w[0][m] = 0.0, 0.0
o.z[1][m], o.w[1][m] = 0.0, 0.0
o.z[2][m], o.w[2][m] = 0.0, 0.0
}
} else {
c3q := o.h / o.hprev
c1q := r5.μ1 * c3q
c2q := r5.μ2 * c3q
for m := 0; m < o.ndim; m++ {
o.z[0][m] = c1q * (o.ycol[0][m] + (c1q-r5.μ4)*(o.ycol[1][m]+(c1q-r5.μ3)*o.ycol[2][m]))
o.z[1][m] = c2q * (o.ycol[0][m] + (c2q-r5.μ4)*(o.ycol[1][m]+(c2q-r5.μ3)*o.ycol[2][m]))
o.z[2][m] = c3q * (o.ycol[0][m] + (c3q-r5.μ4)*(o.ycol[1][m]+(c3q-r5.μ3)*o.ycol[2][m]))
o.w[0][m] = r5.Ti[0][0]*o.z[0][m] + r5.Ti[0][1]*o.z[1][m] + r5.Ti[0][2]*o.z[2][m]
o.w[1][m] = r5.Ti[1][0]*o.z[0][m] + r5.Ti[1][1]*o.z[1][m] + r5.Ti[1][2]*o.z[2][m]
o.w[2][m] = r5.Ti[2][0]*o.z[0][m] + r5.Ti[2][1]*o.z[1][m] + r5.Ti[2][2]*o.z[2][m]
}
}
// iterations
o.nit = 0
o.η = math.Pow(max(o.η, o.ϵ), 0.8)
o.θ = o.θmax
o.diverg = false
var Lδw, oLδw, thq, othq, iterr, itRerr, qnewt float64
var it int
for it = 0; it < o.NmaxIt; it++ {
// max iterations ?
o.nit = it + 1
if o.nit > o.nitmax {
o.nitmax = o.nit
}
// evaluate f(x,y) at (u[i],v[i]=y0+z[i])
for i := 0; i < 3; i++ {
for m := 0; m < o.ndim; m++ {
o.v[i][m] = y0[m] + o.z[i][m]
}
o.nfeval += 1
err = o.fcn(o.f[i], o.h, o.u[i], o.v[i], args...)
if err != nil {
return
}
}
// calc rhs
if o.hasM {
// using δw as workspace here
la.SpMatVecMul(o.δw[0], 1, o.mMat, o.w[0]) // δw0 := M * w0
la.SpMatVecMul(o.δw[1], 1, o.mMat, o.w[1]) // δw1 := M * w1
la.SpMatVecMul(o.δw[2], 1, o.mMat, o.w[2]) // δw2 := M * w2
if o.Distr {
mpi.AllReduceSum(o.δw[0], o.v[0]) // v is used as workspace here
mpi.AllReduceSum(o.δw[1], o.v[1]) // v is used as workspace here
mpi.AllReduceSum(o.δw[2], o.v[2]) // v is used as workspace here
}
for m := 0; m < o.ndim; m++ {
o.v[0][m] = r5.Ti[0][0]*o.f[0][m] + r5.Ti[0][1]*o.f[1][m] + r5.Ti[0][2]*o.f[2][m] - γ*o.δw[0][m]
o.v[1][m] = r5.Ti[1][0]*o.f[0][m] + r5.Ti[1][1]*o.f[1][m] + r5.Ti[1][2]*o.f[2][m] - α*o.δw[1][m] + β*o.δw[2][m]
o.v[2][m] = r5.Ti[2][0]*o.f[0][m] + r5.Ti[2][1]*o.f[1][m] + r5.Ti[2][2]*o.f[2][m] - β*o.δw[1][m] - α*o.δw[2][m]
}
} else {
for m := 0; m < o.ndim; m++ {
o.v[0][m] = r5.Ti[0][0]*o.f[0][m] + r5.Ti[0][1]*o.f[1][m] + r5.Ti[0][2]*o.f[2][m] - γ*o.w[0][m]
o.v[1][m] = r5.Ti[1][0]*o.f[0][m] + r5.Ti[1][1]*o.f[1][m] + r5.Ti[1][2]*o.f[2][m] - α*o.w[1][m] + β*o.w[2][m]
o.v[2][m] = r5.Ti[2][0]*o.f[0][m] + r5.Ti[2][1]*o.f[1][m] + r5.Ti[2][2]*o.f[2][m] - β*o.w[1][m] - α*o.w[2][m]
}
}
// solve linear system
o.nlinsol += 1
var errR, errC error
if !o.Distr && o.Pll {
wg := new(sync.WaitGroup)
wg.Add(2)
go func() {
errR = o.lsolR.SolveR(o.δw[0], o.v[0], false)
wg.Done()
}()
go func() {
errC = o.lsolC.SolveC(o.δw[1], o.δw[2], o.v[1], o.v[2], false)
wg.Done()
}()
wg.Wait()
} else {
errR = o.lsolR.SolveR(o.δw[0], o.v[0], false)
errC = o.lsolC.SolveC(o.δw[1], o.δw[2], o.v[1], o.v[2], false)
}
// check for errors from linear solution
if errR != nil || errC != nil {
var errmsg string
if errR != nil {
errmsg += errR.Error()
}
if errC != nil {
if errR != nil {
errmsg += "\n"
}
errmsg += errC.Error()
}
err = errors.New(errmsg)
return
}
// update w and z
for m := 0; m < o.ndim; m++ {
o.w[0][m] += o.δw[0][m]
o.w[1][m] += o.δw[1][m]
o.w[2][m] += o.δw[2][m]
o.z[0][m] = r5.T[0][0]*o.w[0][m] + r5.T[0][1]*o.w[1][m] + r5.T[0][2]*o.w[2][m]
o.z[1][m] = r5.T[1][0]*o.w[0][m] + r5.T[1][1]*o.w[1][m] + r5.T[1][2]*o.w[2][m]
o.z[2][m] = r5.T[2][0]*o.w[0][m] + r5.T[2][1]*o.w[1][m] + r5.T[2][2]*o.w[2][m]
}
// rms norm of δw
Lδw = 0.0
for m := 0; m < o.ndim; m++ {
Lδw += math.Pow(o.δw[0][m]/o.scal[m], 2.0) + math.Pow(o.δw[1][m]/o.scal[m], 2.0) + math.Pow(o.δw[2][m]/o.scal[m], 2.0)
}
Lδw = math.Sqrt(Lδw / float64(3*o.ndim))
// check convergence
if it > 0 {
thq = Lδw / oLδw
if it == 1 {
o.θ = thq
} else {
o.θ = math.Sqrt(thq * othq)
}
othq = thq
if o.θ < 0.99 {
o.η = o.θ / (1.0 - o.θ)
iterr = Lδw * math.Pow(o.θ, float64(o.NmaxIt-o.nit)) / (1.0 - o.θ)
itRerr = iterr / o.fnewt
if itRerr >= 1.0 { // diverging
qnewt = max(1.0e-4, min(20.0, itRerr))
o.dvfac = 0.8 * math.Pow(qnewt, -1.0/(4.0+float64(o.NmaxIt)-1.0-float64(o.nit)))
o.diverg = true
break
}
} else { // diverging badly (unexpected step-rejection)
o.dvfac = 0.5
o.diverg = true
break
}
}
// save old norm
oLδw = Lδw
// converged
if o.η*Lδw < o.fnewt {
break
}
}
// did not converge
if it == o.NmaxIt-1 {
chk.Panic("radau5_step failed with it=%d", it)
}
// diverging => stop
if o.diverg {
rerr = 2.0 // must leave state intact, any rerr is OK
return
}
// error estimate
if o.LerrStrat == 1 {
// simple strategy => HW-VII p123 Eq.(8.17) (not good for stiff problems)
for m := 0; m < o.ndim; m++ {
o.ez[m] = r5.e0*o.z[0][m] + r5.e1*o.z[1][m] + r5.e2*o.z[2][m]
o.lerr[m] = r5.γ0*o.h*o.f0[m] + o.ez[m]
rerr += math.Pow(o.lerr[m]/o.scal[m], 2.0)
}
rerr = max(math.Sqrt(rerr/float64(o.ndim)), 1.0e-10)
} else {
// common
if o.hasM {
for m := 0; m < o.ndim; m++ {
o.ez[m] = r5.e0*o.z[0][m] + r5.e1*o.z[1][m] + r5.e2*o.z[2][m]
o.rhs[m] = o.f0[m]
}
if o.Distr {
la.SpMatVecMul(o.δw[0], γ, o.mMat, o.ez) // δw[0] = γ * M * ez (δw[0] is workspace)
mpi.AllReduceSumAdd(o.rhs, o.δw[0], o.δw[1]) // rhs += join_with_sum(δw[0]) (δw[1] is workspace)
} else {
la.SpMatVecMulAdd(o.rhs, γ, o.mMat, o.ez) // rhs += γ * M * ez
}
} else {
for m := 0; m < o.ndim; m++ {
o.ez[m] = r5.e0*o.z[0][m] + r5.e1*o.z[1][m] + r5.e2*o.z[2][m]
o.rhs[m] = o.f0[m] + γ*o.ez[m]
}
}
// HW-VII p123 Eq.(8.19)
if o.LerrStrat == 2 {
o.lsolR.SolveR(o.lerr, o.rhs, false)
rerr = o.rms_norm(o.lerr)
// HW-VII p123 Eq.(8.20)
} else {
o.lsolR.SolveR(o.lerr, o.rhs, false)
rerr = o.rms_norm(o.lerr)
if !(rerr < 1.0) {
if o.first || o.reject {
for m := 0; m < o.ndim; m++ {
o.v[0][m] = y0[m] + o.lerr[m] // y0perr
}
o.nfeval += 1
err = o.fcn(o.f[0], o.h, x0, o.v[0], args...) // f0perr
if err != nil {
return
}
if o.hasM {
la.VecCopy(o.rhs, 1, o.f[0]) // rhs := f0perr
if o.Distr {
la.SpMatVecMul(o.δw[0], γ, o.mMat, o.ez) // δw[0] = γ * M * ez (δw[0] is workspace)
mpi.AllReduceSumAdd(o.rhs, o.δw[0], o.δw[1]) // rhs += join_with_sum(δw[0]) (δw[1] is workspace)
} else {
la.SpMatVecMulAdd(o.rhs, γ, o.mMat, o.ez) // rhs += γ * M * ez
}
} else {
la.VecAdd2(o.rhs, 1, o.f[0], γ, o.ez) // rhs = f0perr + γ * ez
}
o.lsolR.SolveR(o.lerr, o.rhs, false)
rerr = o.rms_norm(o.lerr)
}
}
}
}
return
}
// Solve solves from (xa,ya) to (xb,yb) => find yb (stored in y)
func (o *ODE) Solve(y []float64, x, xb, Δx float64, fixstp bool, args ...interface{}) (err error) {
// check
if xb < x {
err = chk.Err(_ode_err3, xb, x)
return
}
// derived variables
o.fnewt = max(10.0*o.ϵ/o.Rtol, min(0.03, math.Sqrt(o.Rtol)))
// initial step size
Δx = min(Δx, xb-x)
if fixstp {
o.h = Δx
} else {
o.h = min(Δx, o.IniH)
}
o.hprev = o.h
// output initial state
if o.out != nil {
o.out(true, o.h, x, y, args...)
}
// stat variables
o.nfeval = 0
o.njeval = 0
o.nsteps = 0
o.naccepted = 0
o.nrejected = 0
o.ndecomp = 0
o.nlinsol = 0
o.nitmax = 0
// control variables
o.doinit = true
o.first = true
o.last = false
o.reject = false
o.diverg = false
o.dvfac = 0
o.η = 1.0
o.jacIsOK = false
o.reuseJdec = false
o.reuseJ = false
o.nit = 0
o.hopt = o.h
o.θ = o.θmax
// local error indicator
var rerr float64
// linear solver
lsname := "umfpack"
if o.Distr {
lsname = "mumps"
}
o.lsolR = la.GetSolver(lsname)
o.lsolC = la.GetSolver(lsname)
// clean up and show stat before leaving
defer func() {
o.lsolR.Clean()
o.lsolC.Clean()
if !o.silent {
o.Stat()
}
}()
// first scaling variable
la.VecScaleAbs(o.scal, o.Atol, o.Rtol, y) // o.scal := o.Atol + o.Rtol * abs(y)
// fixed steps
if fixstp {
la.VecCopy(o.w[0], 1, y) // copy initial values to worksapce
if o.Verbose {
io.Pfgreen("x = %v\n", x)
}
for x < xb {
//if x + o.h > xb { o.h = xb - x }
if o.jac == nil { // numerical Jacobian
if o.method == "Radau5" {
o.nfeval += 1
o.fcn(o.f0, x, y, args...)
}
}
o.reuseJdec = false
o.reuseJ = false
o.jacIsOK = false
o.step(o, y, x, args...)
o.nsteps += 1
o.doinit = false
o.first = false
o.hprev = o.h
x += o.h
o.accept(o, y)
if o.out != nil {
o.out(false, o.h, x, y, args...)
}
if o.Verbose {
io.Pfgreen("x = %v\n", x)
}
}
return
}
// first function evaluation
o.nfeval += 1
o.fcn(o.f0, x, y, args...) // o.f0 := f(x,y)
// time loop
var dxmax, xstep, fac, div, dxnew, facgus, old_h, old_rerr float64
var dxratio float64
var failed bool
for x < xb {
dxmax, xstep = Δx, x+Δx
failed = false
for iss := 0; iss < o.NmaxSS+1; iss++ {
// total number of substeps
o.nsteps += 1
// error: did not converge
if iss == o.NmaxSS {
failed = true
break
}
// converged?
if x-xstep >= 0.0 {
break
}
// step update
rerr, err = o.step(o, y, x, args...)
// initialise only once
o.doinit = false
// iterations diverging ?
if o.diverg {
o.diverg = false
o.reject = true
o.last = false
o.h = o.dvfac * o.h
continue
}
// step size change
fac = min(o.Mfac, o.Mfac*float64(1+2*o.NmaxIt)/float64(o.nit+2*o.NmaxIt))
div = max(o.Mmin, min(o.Mmax, math.Pow(rerr, 0.25)/fac))
dxnew = o.h / div
// accepted
if rerr < 1.0 {
// set flags
o.naccepted += 1
o.first = false
o.jacIsOK = false
// update x and y
o.hprev = o.h
x += o.h
o.accept(o, y)
// output
if o.out != nil {
o.out(false, o.h, x, y, args...)
}
// converged ?
if o.last {
o.hopt = o.h // optimal h
break
}
// predictive controller of Gustafsson
if o.PredCtrl {
if o.naccepted > 1 {
facgus = (old_h / o.h) * math.Pow(math.Pow(rerr, 2.0)/old_rerr, 0.25) / o.Mfac
facgus = max(o.Mmin, min(o.Mmax, facgus))
div = max(div, facgus)
dxnew = o.h / div
}
old_h = o.h
old_rerr = max(1.0e-2, rerr)
}
// calc new scal and f0
la.VecScaleAbs(o.scal, o.Atol, o.Rtol, y) // o.scal := o.Atol + o.Rtol * abs(y)
o.nfeval += 1
o.fcn(o.f0, x, y, args...) // o.f0 := f(x,y)
// new step size
dxnew = min(dxnew, dxmax)
if o.reject { // do not alow o.h to grow if previous was a reject
dxnew = min(o.h, dxnew)
}
o.reject = false
// do not reuse current Jacobian and decomposition by default
o.reuseJdec = false
// last step ?
if x+dxnew-xstep >= 0.0 {
o.last = true
o.h = xstep - x
} else {
dxratio = dxnew / o.h
o.reuseJdec = (o.θ <= o.θmax && dxratio >= o.C1h && dxratio <= o.C2h)
if !o.reuseJdec {
o.h = dxnew
}
}
// check θ to decide if at least the Jacobian can be reused
if !o.reuseJdec {
o.reuseJ = (o.θ <= o.θmax)
}
// rejected
} else {
// set flags
if o.naccepted > 0 {
o.nrejected += 1
}
o.reject = true
o.last = false
// new step size
if o.first {
o.h = 0.1 * o.h
} else {
o.h = dxnew
}
// last step
if x+o.h > xstep {
o.h = xstep - x
}
}
}
// sub-stepping failed
if failed {
err = chk.Err(_ode_err2, o.NmaxSS)
break
}
}
return
}
// Solve solves linear programming problem
func (o *LinIpm) Solve(verbose bool) (err error) {
// starting point
AAt := la.MatAlloc(o.Nl, o.Nl) // A*Aᵀ
d := make([]float64, o.Nl) // inv(AAt) * b
e := make([]float64, o.Nl) // A * c
la.SpMatMatTrMul(AAt, 1, o.A) // AAt := A*Aᵀ
la.SpMatVecMul(e, 1, o.A, o.C) // e := A * c
la.SPDsolve2(d, o.L, AAt, o.B, e) // d := inv(AAt) * b and L := inv(AAt) * e
la.SpMatTrVecMul(o.X, 1, o.A, d) // x := Aᵀ * d
la.VecCopy(o.S, 1, o.C) // s := c
la.SpMatTrVecMulAdd(o.S, -1, o.A, o.L) // s -= Aᵀλ
xmin := o.X[0]
smin := o.S[0]
for i := 1; i < o.Nx; i++ {
xmin = min(xmin, o.X[i])
smin = min(smin, o.S[i])
}
δx := max(-1.5*xmin, 0)
δs := max(-1.5*smin, 0)
var xdots, xsum, ssum float64
for i := 0; i < o.Nx; i++ {
o.X[i] += δx
o.S[i] += δs
xdots += o.X[i] * o.S[i]
xsum += o.X[i]
ssum += o.S[i]
}
δx = 0.5 * xdots / ssum
δs = 0.5 * xdots / xsum
for i := 0; i < o.Nx; i++ {
o.X[i] += δx
o.S[i] += δs
}
// constants for linear solver
symmetric := false
timing := false
// auxiliary
I := o.Nx + o.Nl
// control variables
var μ, σ float64 // μ and σ
var xrmin float64 // min{ x_i / (-Δx_i) } (x_ratio_minimum)
var srmin float64 // min{ s_i / (-Δs_i) } (s_ratio_minimum)
var αpa float64 // α_prime_affine
var αda float64 // α_dual_affine
var μaff float64 // μ_affine
var ctx, btl float64 // cᵀx and bᵀl
// message
if verbose {
io.Pf("%3s%16s%16s\n", "it", "f(x)", "error")
}
// perform iterations
it := 0
for it = 0; it < o.NmaxIt; it++ {
// compute residual
la.SpMatTrVecMul(o.Rx, 1, o.A, o.L) // rx := Aᵀλ
la.SpMatVecMul(o.Rl, 1, o.A, o.X) // rλ := A x
ctx, btl, μ = 0, 0, 0
for i := 0; i < o.Nx; i++ {
o.Rx[i] += o.S[i] - o.C[i]
o.Rs[i] = o.X[i] * o.S[i]
ctx += o.C[i] * o.X[i]
μ += o.X[i] * o.S[i]
}
for i := 0; i < o.Nl; i++ {
o.Rl[i] -= o.B[i]
btl += o.B[i] * o.L[i]
}
μ /= float64(o.Nx)
// check convergence
lerr := math.Abs(ctx-btl) / (1.0 + math.Abs(ctx))
if verbose {
fx := la.VecDot(o.C, o.X)
io.Pf("%3d%16.8e%16.8e\n", it, fx, lerr)
}
if lerr < o.Tol {
break
}
// assemble Jacobian
o.J.Start()
o.J.PutCCMatAndMatT(o.A)
for i := 0; i < o.Nx; i++ {
o.J.Put(i, I+i, 1.0)
o.J.Put(I+i, i, o.S[i])
o.J.Put(I+i, I+i, o.X[i])
}
// solve linear system
if it == 0 {
err = o.Lis.InitR(o.J, symmetric, false, timing)
if err != nil {
return
}
}
err = o.Lis.Fact()
if err != nil {
return
}
err = o.Lis.SolveR(o.Mdy, o.R, false) // mdy := inv(J) * R
if err != nil {
return
}
// control variables
xrmin, srmin = o.calc_min_ratios()
αpa = min(1, xrmin)
αda = min(1, srmin)
μaff = 0
for i := 0; i < o.Nx; i++ {
μaff += (o.X[i] - αpa*o.Mdx[i]) * (o.S[i] - αda*o.Mds[i])
}
μaff /= float64(o.Nx)
σ = math.Pow(μaff/μ, 3)
// update residual
for i := 0; i < o.Nx; i++ {
o.Rs[i] += o.Mdx[i]*o.Mds[i] - σ*μ
}
// solve linear system again
err = o.Lis.SolveR(o.Mdy, o.R, false) // mdy := inv(J) * R
if err != nil {
return
}
// step lengths
xrmin, srmin = o.calc_min_ratios()
αpa = min(1, 0.99*xrmin)
αda = min(1, 0.99*srmin)
// update
for i := 0; i < o.Nx; i++ {
o.X[i] -= αpa * o.Mdx[i]
o.S[i] -= αda * o.Mds[i]
}
for i := 0; i < o.Nl; i++ {
o.L[i] -= αda * o.Mdl[i]
}
}
// check convergence
if it == o.NmaxIt {
err = chk.Err("iterations did not converge")
}
return
}
