Refactoring
This commit is contained in:
iasonmanolas
parent
107a2ce66c
commit
d7d1951be6
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@ -65,7 +65,7 @@ int main(int argc, char *argv[]) {
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const std::vector<size_t> numberOfNodesPerSlot{1, 0, 0, 2, 1, 2, 1};
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assert(interfaceNodeIndex==numberOfNodesPerSlot[0]+numberOfNodesPerSlot[3]);
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ReducedModelOptimizer optimizer(numberOfNodesPerSlot);
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optimizer.initializePatterns(fullPattern, reducedPattern, {},settings_optimization.xRanges.size());
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optimizer.initializePatterns(fullPattern, reducedPattern, settings_optimization.xRanges.size());
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ReducedModelOptimization::Results optimizationResults =
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optimizer.optimize(settings_optimization);
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@ -106,7 +106,7 @@ int main(int argc, char *argv[]) {
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csv_results << endrow;
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#ifdef POLYSCOPE_DEFINED
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optimizationResults.draw();
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optimizationResults.draw();
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#endif
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return 0;
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}
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@ -39,14 +39,14 @@ struct GlobalOptimizationVariables {
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std::vector<SimulationJob> reducedPatternMaximumDisplacementSimulationJobs;
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double ReducedModelOptimizer::computeDisplacementError(
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const std::vector<Vector6d> &reducedPatternDisplacements,
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const std::vector<Vector6d> &fullPatternDisplacements,
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const std::vector<Vector6d> &reducedPatternDisplacements,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap,
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const double &normalizationFactor)
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{
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const double rawError = computeRawDisplacementError(reducedPatternDisplacements,
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fullPatternDisplacements,
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const double rawError = computeRawDisplacementError(fullPatternDisplacements,
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reducedPatternDisplacements,
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reducedToFullInterfaceViMap);
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if (global.optimizationSettings.normalizationStrategy !=
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Settings::NormalizationStrategy::NonNormalized) {
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@ -56,8 +56,8 @@ double ReducedModelOptimizer::computeDisplacementError(
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}
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double ReducedModelOptimizer::computeRawDisplacementError(
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const std::vector<Vector6d> &reducedPatternDisplacements,
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const std::vector<Vector6d> &fullPatternDisplacements,
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const std::vector<Vector6d> &reducedPatternDisplacements,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap)
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{
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@ -81,6 +81,58 @@ double ReducedModelOptimizer::computeRawDisplacementError(
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return error;
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}
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double ReducedModelOptimizer::computeRawRotationalError(
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const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_fullPattern,
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const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_reducedPattern,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap)
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{
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double rawRotationalError = 0;
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for (const auto &reducedToFullInterfaceViPair : reducedToFullInterfaceViMap) {
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const double vertexRotationalError
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= rotatedQuaternion_fullPattern[reducedToFullInterfaceViPair.second].angularDistance(
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rotatedQuaternion_reducedPattern[reducedToFullInterfaceViPair.first]);
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rawRotationalError += vertexRotationalError;
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}
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return rawRotationalError;
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}
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double ReducedModelOptimizer::computeRotationalError(
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const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_fullPattern,
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const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_reducedPattern,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap,
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const double &normalizationFactor)
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{
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const double rawRotationalError = computeRawRotationalError(rotatedQuaternion_fullPattern,
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rotatedQuaternion_reducedPattern,
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reducedToFullInterfaceViMap);
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return rawRotationalError / normalizationFactor;
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}
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double ReducedModelOptimizer::computeError(
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const SimulationResults &simulationResults_fullPattern,
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const SimulationResults &simulationResults_reducedPattern,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap,
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const double &normalizationFactor_translationalDisplacement,
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const double &normalizationFactor_rotationalDisplacement)
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{
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const double translationalError
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= computeDisplacementError(simulationResults_fullPattern.displacements,
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simulationResults_reducedPattern.displacements,
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reducedToFullInterfaceViMap,
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normalizationFactor_translationalDisplacement);
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const double rotationalError
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= computeRotationalError(simulationResults_fullPattern.rotationalDisplacementQuaternion,
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simulationResults_reducedPattern.rotationalDisplacementQuaternion,
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reducedToFullInterfaceViMap,
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normalizationFactor_rotationalDisplacement);
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return translationalError + rotationalError;
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}
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double ReducedModelOptimizer::objective(double E,double A,double J,double I2,double I3,
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double innerHexagonSize,
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double innerHexagonRotationAngle) {
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@ -129,24 +181,12 @@ double ReducedModelOptimizer::objective(long n, const double *x) {
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reducedModelResults.internalPotentialEnergy
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- global.fullPatternResults[simulationScenarioIndex].internalPotentialEnergy);
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} else {
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const double translationalError = computeDisplacementError(
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reducedModelResults.displacements,
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global.fullPatternResults[simulationScenarioIndex].displacements,
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simulationScenarioError += computeError(
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global.fullPatternResults[simulationScenarioIndex],
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reducedModelResults,
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global.reducedToFullInterfaceViMap,
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global.translationalDisplacementNormalizationValues[simulationScenarioIndex]);
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double rotationalError = 0;
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for (const auto &reducedToFullInterfaceViPair : global.reducedToFullInterfaceViMap) {
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const double vertexRotationalError
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= global.fullPatternResults[simulationScenarioIndex]
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.rotationalDisplacementQuaternion[reducedToFullInterfaceViPair.second]
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.angularDistance(reducedModelResults.rotationalDisplacementQuaternion
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[reducedToFullInterfaceViPair.first]);
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rotationalError += vertexRotationalError;
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}
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simulationScenarioError += translationalError
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+ rotationalError
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/ global.rotationalDisplacementNormalizationValues
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[simulationScenarioIndex];
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global.translationalDisplacementNormalizationValues[simulationScenarioIndex],
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global.rotationalDisplacementNormalizationValues[simulationScenarioIndex]);
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}
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//#ifdef POLYSCOPE_DEFINED
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// std::cout << "sim error:" << simulationScenarioError << std::endl;
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@ -246,7 +286,6 @@ void ReducedModelOptimizer::createSimulationMeshes(
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}
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void ReducedModelOptimizer::computeMaps(
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const std::unordered_set<size_t> &reducedModelExcludedEdges,
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const std::unordered_map<size_t, std::unordered_set<size_t>> &slotToNode,
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PatternGeometry &fullPattern, PatternGeometry &reducedPattern,
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std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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@ -375,13 +414,15 @@ void ReducedModelOptimizer::computeMaps(
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}
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}
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void ReducedModelOptimizer::computeMaps(
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PatternGeometry &fullPattern, PatternGeometry &reducedPattern,
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const std::unordered_set<size_t> &reducedModelExcludedEdges) {
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ReducedModelOptimizer::computeMaps(
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reducedModelExcludedEdges, slotToNode, fullPattern, reducedPattern,
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global.reducedToFullInterfaceViMap, m_fullToReducedInterfaceViMap,
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m_fullPatternOppositeInterfaceViMap);
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void ReducedModelOptimizer::computeMaps(PatternGeometry &fullPattern,
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PatternGeometry &reducedPattern)
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{
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ReducedModelOptimizer::computeMaps(slotToNode,
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fullPattern,
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reducedPattern,
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global.reducedToFullInterfaceViMap,
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m_fullToReducedInterfaceViMap,
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m_fullPatternOppositeInterfaceViMap);
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}
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ReducedModelOptimizer::ReducedModelOptimizer(
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@ -390,11 +431,10 @@ ReducedModelOptimizer::ReducedModelOptimizer(
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FlatPatternTopology::constructSlotToNodeMap(nodeToSlot, slotToNode);
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}
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void ReducedModelOptimizer::initializePatterns(
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PatternGeometry &fullPattern, PatternGeometry &reducedPattern,
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const std::unordered_set<size_t> &reducedModelExcludedEdges,const int& optimizationParameters) {
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// fullPattern.setLabel("full_pattern_" + fullPattern.getLabel());
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// reducedPattern.setLabel("reduced_pattern_" + reducedPattern.getLabel());
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void ReducedModelOptimizer::initializePatterns(PatternGeometry &fullPattern,
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PatternGeometry &reducedPattern,
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const int &optimizationParameters)
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{
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assert(fullPattern.VN() == reducedPattern.VN() &&
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fullPattern.EN() >= reducedPattern.EN());
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#if POLYSCOPE_DEFINED
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@ -406,31 +446,8 @@ void ReducedModelOptimizer::initializePatterns(
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copyFullPattern.copy(fullPattern);
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copyReducedPattern.copy(reducedPattern);
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global.baseTriangle = copyReducedPattern.getBaseTriangle();
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/*
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* Here we create the vector that connects the central node with the bottom
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* left node of the base triangle. During the optimization the vi%2==0 nodes
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* move on these vectors.
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* */
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// const double h = copyReducedPattern.getBaseTriangleHeight();
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// double baseTriangle_bottomEdgeSize = 2 * h / tan(vcg::math::ToRad(60.0));
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// VectorType baseTriangle_leftBottomNode(-baseTriangle_bottomEdgeSize / 2, -h,
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// 0);
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// for (int rotationCounter = 0; rotationCounter < fanSize; rotationCounter++) {
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// VectorType rotatedVector =
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// vcg::RotationMatrix(patternPlaneNormal,
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// vcg::math::ToRad(rotationCounter * 60.0)) *
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// baseTriangle_leftBottomNode;
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// global.g_innerHexagonVectors[rotationCounter] = rotatedVector;
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// }
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// const double innerHexagonInitialPos_x =
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// copyReducedPattern.vert[0].cP()[0] / global.g_innerHexagonVectors[0][0];
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// const double innerHexagonInitialPos_y =
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// copyReducedPattern.vert[0].cP()[1] / global.g_innerHexagonVectors[0][1];
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// global.innerHexagonInitialPos = innerHexagonInitialPos_x;
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// global.innerHexagonInitialRotationAngle =
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// 30; /* NOTE: Here I assume that the CW reduced pattern is given as input.
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// This is not very generic */
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computeMaps(copyFullPattern, copyReducedPattern, reducedModelExcludedEdges);
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computeMaps(copyFullPattern, copyReducedPattern);
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createSimulationMeshes(copyFullPattern, copyReducedPattern);
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initializeOptimizationParameters(m_pReducedPatternSimulationMesh,optimizationParameters);
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}
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@ -716,17 +733,31 @@ ReducedModelOptimizer::runOptimization(const Settings &settings) {
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for (int simulationScenarioIndex:global.simulationScenarioIndices) {
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SimulationResults reducedModelResults = simulator.executeSimulation(
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global.reducedPatternSimulationJobs[simulationScenarioIndex]);
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const double error = computeDisplacementError(
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reducedModelResults.displacements,
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const double rawTranslationalError = computeRawDisplacementError(
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global.fullPatternResults[simulationScenarioIndex].displacements,
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global.reducedToFullInterfaceViMap,
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global.translationalDisplacementNormalizationValues[simulationScenarioIndex]);
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results.rawObjectiveValue += computeRawDisplacementError(
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reducedModelResults.displacements,
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global.fullPatternResults[simulationScenarioIndex].displacements,
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global.reducedToFullInterfaceViMap);
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results.objectiveValuePerSimulationScenario[simulationScenarioIndex] =
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error;
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const double rawRotationalError = computeRawRotationalError(
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global.fullPatternResults[simulationScenarioIndex].rotationalDisplacementQuaternion,
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reducedModelResults.rotationalDisplacementQuaternion,
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global.reducedToFullInterfaceViMap);
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results.rawObjectiveValue += rawTranslationalError + rawRotationalError;
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const double normalizedTranslationalError
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= rawTranslationalError
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/ global.translationalDisplacementNormalizationValues[simulationScenarioIndex];
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const double normalizedRotationalError
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= rawRotationalError
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/ global.rotationalDisplacementNormalizationValues[simulationScenarioIndex];
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std::cout << "Simulation scenario:" << simulationScenarioStrings[simulationScenarioIndex]
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<< std::endl;
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std::cout << "Translational error:" << normalizedTranslationalError << std::endl;
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std::cout << "Rotational error:" << normalizedRotationalError << std::endl;
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std::cout << std::endl;
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results.objectiveValuePerSimulationScenario[simulationScenarioIndex]
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= normalizedTranslationalError + normalizedRotationalError;
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}
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results.time = elapsed.count() / 1000.0;
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const bool printDebugInfo = false;
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@ -880,8 +911,6 @@ ReducedModelOptimizer::createScenarios(
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}
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void ReducedModelOptimizer::computeObjectiveValueNormalizationFactors() {
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if (global.optimizationSettings.normalizationStrategy ==
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Settings::NormalizationStrategy::Epsilon) {
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// Compute the sum of the displacement norms
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std::vector<double> fullPatternTranslationalDisplacementNormSum(NumberOfSimulationScenarios);
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@ -939,10 +968,12 @@ void ReducedModelOptimizer::computeObjectiveValueNormalizationFactors() {
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global.rotationalDisplacementNormalizationValues[simulationScenarioIndex]
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= std::max(fullPatternAngularDistance[simulationScenarioIndex],
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epsilon_rotationalDisplacement);
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} else {
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global.translationalDisplacementNormalizationValues[simulationScenarioIndex] = 1;
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global.rotationalDisplacementNormalizationValues[simulationScenarioIndex] = 1;
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}
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}
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}
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}
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Results ReducedModelOptimizer::optimize(
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const Settings &optimizationSettings,
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@ -47,8 +47,9 @@ public:
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SimulationJob
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getReducedSimulationJob(const SimulationJob &fullModelSimulationJob);
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void initializePatterns(PatternGeometry &fullPattern, PatternGeometry &reducedPatterm,
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const std::unordered_set<size_t> &reducedModelExcludedEges, const int &optimizationParameters);
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void initializePatterns(PatternGeometry &fullPattern,
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PatternGeometry &reducedPatterm,
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const int &optimizationParameters);
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static void runSimulation(const std::string &filename,
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std::vector<double> &x);
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@ -66,16 +67,15 @@ public:
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PatternGeometry &fullModel, PatternGeometry &reducedModel,
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std::shared_ptr<SimulationMesh> &pFullPatternSimulationMesh,
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std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh);
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static void computeMaps(
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const std::unordered_set<size_t> &reducedModelExcludedEdges,
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const std::unordered_map<size_t, std::unordered_set<size_t>> &slotToNode,
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PatternGeometry &fullPattern, PatternGeometry &reducedPattern,
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std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap,
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std::unordered_map<FullPatternVertexIndex, ReducedPatternVertexIndex>
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&fullToReducedInterfaceViMap,
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std::unordered_map<FullPatternVertexIndex, ReducedPatternVertexIndex>
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&fullPatternOppositeInterfaceViMap);
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static void computeMaps(const std::unordered_map<size_t, std::unordered_set<size_t>> &slotToNode,
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PatternGeometry &fullPattern,
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PatternGeometry &reducedPattern,
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std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap,
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std::unordered_map<FullPatternVertexIndex, ReducedPatternVertexIndex>
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&fullToReducedInterfaceViMap,
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std::unordered_map<FullPatternVertexIndex, ReducedPatternVertexIndex>
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&fullPatternOppositeInterfaceViMap);
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static void visualizeResults(
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const std::vector<std::shared_ptr<SimulationJob>> &fullPatternSimulationJobs,
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const std::vector<std::shared_ptr<SimulationJob>> &reducedPatternSimulationJobs,
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@ -90,38 +90,59 @@ public:
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&reducedToFullInterfaceViMap);
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static double computeRawDisplacementError(
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const std::vector<Vector6d> &reducedPatternDisplacements,
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const std::vector<Vector6d> &fullPatternDisplacements,
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const std::vector<Vector6d> &reducedPatternDisplacements,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap);
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static double computeDisplacementError(
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const std::vector<Vector6d> &reducedPatternDisplacements,
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const std::vector<Vector6d> &fullPatternDisplacements,
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const std::vector<Vector6d> &reducedPatternDisplacements,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap,
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const double &normalizationFactor);
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static double objective(double E, double A, double innerHexagonSize, double innerHexagonRotationAngle);
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private:
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static void computeDesiredReducedModelDisplacements(
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const SimulationResults &fullModelResults,
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const std::unordered_map<size_t, size_t> &displacementsReducedToFullMap,
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Eigen::MatrixX3d &optimalDisplacementsOfReducedModel);
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static ReducedModelOptimization::Results runOptimization(
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const ReducedModelOptimization::Settings &settings);
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std::vector<std::shared_ptr<SimulationJob>> createScenarios(
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const std::shared_ptr<SimulationMesh> &pMesh);
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void computeMaps(PatternGeometry &fullModel,
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PatternGeometry &reducedPattern,
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const std::unordered_set<size_t> &reducedModelExcludedEges);
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void createSimulationMeshes(PatternGeometry &fullModel, PatternGeometry &reducedModel);
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static void initializeOptimizationParameters(const std::shared_ptr<SimulationMesh> &mesh,
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const int &optimizationParamters);
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static double objective(double E,
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double A,
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double innerHexagonSize,
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double innerHexagonRotationAngle);
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static double computeRawRotationalError(
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const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_fullPattern,
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const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_reducedPattern,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap);
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static double objective(long n, const double *x);
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DRMSimulationModel simulator;
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void computeObjectiveValueNormalizationFactors();
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static double computeRotationalError(
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const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_fullPattern,
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const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_reducedPattern,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap,
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const double &normalizationFactor);
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static double computeError(
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const SimulationResults &simulationResults_fullPattern,
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const SimulationResults &simulationResults_reducedPattern,
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const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
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&reducedToFullInterfaceViMap,
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const double &normalizationFactor_translationalDisplacement,
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const double &normalizationFactor_rotationalDisplacement);
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private:
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static void computeDesiredReducedModelDisplacements(
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const SimulationResults &fullModelResults,
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const std::unordered_map<size_t, size_t> &displacementsReducedToFullMap,
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Eigen::MatrixX3d &optimalDisplacementsOfReducedModel);
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static ReducedModelOptimization::Results runOptimization(
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const ReducedModelOptimization::Settings &settings);
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std::vector<std::shared_ptr<SimulationJob>> createScenarios(
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const std::shared_ptr<SimulationMesh> &pMesh);
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void computeMaps(PatternGeometry &fullModel, PatternGeometry &reducedPattern);
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void createSimulationMeshes(PatternGeometry &fullModel, PatternGeometry &reducedModel);
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static void initializeOptimizationParameters(const std::shared_ptr<SimulationMesh> &mesh,
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const int &optimizationParamters);
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static double objective(long n, const double *x);
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DRMSimulationModel simulator;
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void computeObjectiveValueNormalizationFactors();
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};
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void updateMesh(long n, const double *x);
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#endif // REDUCEDMODELOPTIMIZER_HPP
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Reference in New Issue