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1 /* |
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2 |
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3 Copyright (C) 2000, 2001, 2004, 2005, 2006, 2007 Gabriele Pannocchia |
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4 |
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5 This file is part of Octave. |
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6 |
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7 Octave is free software; you can redistribute it and/or modify it |
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8 under the terms of the GNU General Public License as published by the |
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9 Free Software Foundation; either version 3 of the License, or (at your |
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10 option) any later version. |
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11 |
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12 Octave is distributed in the hope that it will be useful, but WITHOUT |
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13 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
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14 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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15 for more details. |
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16 |
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17 You should have received a copy of the GNU General Public License |
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18 along with Octave; see the file COPYING. If not, see |
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19 <http://www.gnu.org/licenses/>. |
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20 |
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21 */ |
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22 |
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23 #ifdef HAVE_CONFIG_H |
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24 #include <config.h> |
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25 #endif |
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26 |
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27 #include <cfloat> |
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28 |
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29 #include "dbleCHOL.h" |
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30 #include "dbleSVD.h" |
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31 #include "mx-m-dm.h" |
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32 #include "EIG.h" |
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33 |
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34 #include "defun-dld.h" |
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35 #include "error.h" |
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36 #include "gripes.h" |
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37 #include "oct-obj.h" |
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38 #include "pr-output.h" |
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39 #include "utils.h" |
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40 |
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41 static Matrix |
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42 null (const Matrix& A, octave_idx_type& rank) |
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43 { |
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44 Matrix retval; |
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45 |
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46 rank = 0; |
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47 |
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48 if (! A.is_empty ()) |
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49 { |
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50 SVD A_svd (A); |
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51 |
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52 DiagMatrix S = A_svd.singular_values (); |
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53 |
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54 ColumnVector s = S.diag (); |
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55 |
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56 Matrix V = A_svd.right_singular_matrix (); |
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57 |
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58 octave_idx_type A_nr = A.rows (); |
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59 octave_idx_type A_nc = A.cols (); |
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60 |
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61 octave_idx_type tmp = A_nr > A_nc ? A_nr : A_nc; |
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62 |
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63 double tol = tmp * s(0) * DBL_EPSILON; |
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64 |
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65 octave_idx_type n = s.length (); |
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66 |
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67 for (octave_idx_type i = 0; i < n; i++) |
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68 { |
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69 if (s(i) > tol) |
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70 rank++; |
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71 } |
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72 |
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73 if (rank < A_nc) |
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74 retval = V.extract (0, rank, A_nc-1, A_nc-1); |
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75 else |
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76 retval.resize (A_nc, 0); |
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77 |
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78 for (octave_idx_type i = 0; i < retval.numel (); i++) |
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79 if (std::abs (retval(i)) < DBL_EPSILON) |
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80 retval(i) = 0; |
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81 } |
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82 |
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83 return retval; |
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84 } |
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85 |
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86 static int |
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87 qp (const Matrix& H, const ColumnVector& q, |
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88 const Matrix& Aeq, const ColumnVector& beq, |
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89 const Matrix& Ain, const ColumnVector& bin, |
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90 int maxit, |
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91 ColumnVector& x, ColumnVector& lambda, int& iter) |
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92 { |
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93 int info = 0; |
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94 |
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95 iter = 0; |
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96 |
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97 double rtol = sqrt (DBL_EPSILON); |
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98 |
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99 // Problem dimension. |
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100 octave_idx_type n = x.length (); |
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101 |
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102 // Dimension of constraints. |
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103 octave_idx_type n_eq = beq.length (); |
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104 octave_idx_type n_in = bin.length (); |
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105 |
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106 // Filling the current active set. |
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107 |
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108 octave_idx_type n_act = n_eq; |
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109 |
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110 octave_idx_type n_tot = n_eq + n_in; |
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111 |
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112 // Equality constraints come first. We won't check the sign of the |
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113 // Lagrange multiplier for those. |
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114 |
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115 Matrix Aact = Aeq; |
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116 ColumnVector bact = beq; |
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117 ColumnVector Wact; |
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118 |
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119 if (n_in > 0) |
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120 { |
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121 ColumnVector res = Ain*x - bin; |
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122 |
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123 for (octave_idx_type i = 0; i < n_in; i++) |
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124 { |
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125 res(i) /= (1.0 + std::abs (bin(i))); |
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126 |
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127 if (res(i) < rtol) |
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128 { |
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129 n_act++; |
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130 Aact = Aact.stack (Ain.row (i)); |
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131 bact.resize (n_act, bin(i)); |
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132 Wact.resize (n_act-n_eq, i); |
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133 } |
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134 } |
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135 } |
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136 |
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137 // Computing the ??? |
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138 |
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139 EIG eigH (H); |
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140 ColumnVector eigenvalH = real (eigH.eigenvalues ()); |
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141 Matrix eigenvecH = real (eigH.eigenvectors ()); |
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142 double minReal = eigenvalH.min (); |
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143 octave_idx_type indminR = 0; |
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144 for (octave_idx_type i = 0; i < n; i++) |
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145 { |
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146 if (minReal == eigenvalH(i)) |
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147 { |
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148 indminR = i; |
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149 break; |
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150 } |
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151 } |
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152 |
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153 bool done = false; |
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154 |
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155 double alpha = 0.0; |
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156 |
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157 Matrix R; |
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158 Matrix Y (n, 0, 0.0); |
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159 |
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160 ColumnVector g (n, 0.0); |
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161 ColumnVector p (n, 0.0); |
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162 |
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163 ColumnVector lambda_tmp (n_in, 0.0); |
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164 |
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165 while (! done) |
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166 { |
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167 iter++; |
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168 |
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169 // Current Gradient |
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170 // g = q + H * x; |
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171 |
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172 g = q + H * x; |
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173 |
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174 if (n_act == 0) |
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175 { |
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176 // There are no active constraints. |
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177 |
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178 if (minReal > 0.0) |
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179 { |
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180 // Inverting the Hessian. Using the Cholesky |
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181 // factorization since the Hessian is positive |
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182 // definite. |
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183 |
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184 CHOL cholH (H); |
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185 |
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186 R = cholH.chol_matrix (); |
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187 |
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188 Matrix Hinv = chol2inv (R); |
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189 |
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190 // Computing the unconstrained step. |
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191 // p = -Hinv * g; |
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192 |
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193 p = -Hinv * g; |
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194 |
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195 info = 0; |
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196 } |
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197 else |
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198 { |
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199 // Finding the negative curvature of H. |
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200 |
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201 p = eigenvecH.column (indminR); |
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202 |
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203 // Following the negative curvature of H. |
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204 |
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205 if (p.transpose () * g > DBL_EPSILON) |
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206 p = -p; |
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207 |
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208 info = 1; |
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209 } |
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210 |
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211 // Multipliers are zero. |
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212 lambda_tmp.fill (0.0); |
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213 } |
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214 else |
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215 { |
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216 // There are active constraints. |
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217 |
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218 // Computing the null space. |
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219 |
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220 octave_idx_type rank; |
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221 |
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222 Matrix Z = null (Aact, rank); |
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223 |
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224 octave_idx_type dimZ = n - rank; |
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225 |
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226 // FIXME -- still remain to handle the case of |
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227 // non-full rank active set matrix. |
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228 |
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229 // Reduced Hessian |
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230 Matrix Zt = Z.transpose (); |
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231 Matrix rH = Zt * H * Z; |
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232 |
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233 octave_idx_type pR = 0; |
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234 |
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235 if (dimZ > 0) |
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236 { |
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237 // Computing the Cholesky factorization (pR = 0 means |
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238 // that the reduced Hessian was positive definite). |
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239 |
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240 CHOL cholrH (rH, pR); |
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241 Matrix tR = cholrH.chol_matrix (); |
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242 if (pR == 0) |
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243 R = tR; |
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244 } |
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245 |
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246 if (pR == 0) |
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247 { |
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248 info = 0; |
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249 |
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250 // Computing the step pz. |
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251 if (dimZ > 0) |
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252 { |
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253 // Using the Cholesky factorization to invert rH |
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254 |
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255 Matrix rHinv = chol2inv (R); |
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256 |
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257 ColumnVector pz = -rHinv * Zt * g; |
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258 |
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259 // Global step. |
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260 p = Z * pz; |
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261 } |
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262 else |
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263 { |
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264 // Global step. |
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265 p.fill (0.0); |
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266 } |
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267 } |
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268 else |
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269 { |
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270 info = 1; |
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271 |
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272 // Searching for the most negative curvature. |
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273 |
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274 EIG eigrH (rH); |
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275 ColumnVector eigenvalrH = real (eigrH.eigenvalues ()); |
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276 Matrix eigenvecrH = real (eigrH.eigenvectors ()); |
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277 double mRrH = eigenvalrH.min (); |
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278 indminR = 0; |
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279 for (octave_idx_type i = 0; i < n; i++) |
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280 { |
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281 if (mRrH == eigenvalH(i)) |
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282 { |
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283 indminR = i; |
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284 break; |
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285 } |
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286 } |
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287 |
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288 ColumnVector eVrH = eigenvecrH.column (indminR); |
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289 |
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290 // Computing the step pz. |
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291 p = Z * eVrH; |
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292 |
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293 if (p.transpose () * g > DBL_EPSILON) |
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294 p = -p; |
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295 } |
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296 } |
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297 |
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298 // Checking the step-size. |
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299 ColumnVector abs_p (n); |
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300 for (octave_idx_type i = 0; i < n; i++) |
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301 abs_p(i) = std::abs (p(i)); |
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302 double max_p = abs_p.max (); |
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303 |
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304 if (max_p < rtol) |
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305 { |
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306 // The step is null. Checking constraints. |
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307 if (n_act - n_eq == 0) |
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308 // Solution is found because no inequality |
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309 // constraints are active. |
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310 done = true; |
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311 else |
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312 { |
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313 // Computing the multipliers only for the inequality |
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314 // constraints that are active. We do NOT compute |
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315 // multipliers for the equality constraints. |
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316 Y = Aact.pseudo_inverse (); |
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317 Matrix Yt = Y.transpose (); |
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318 Yt = Yt.extract_n (n_eq, 0, n_act-n_eq, n); |
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319 lambda_tmp = Yt * (g + H * p); |
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320 |
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321 // Checking the multipliers. We remove the most |
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322 // negative from the set (if any). |
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323 double min_lambda = lambda_tmp.min (); |
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324 if (min_lambda >= 0) |
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325 { |
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326 // Solution is found. |
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327 done = true; |
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328 } |
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329 else |
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330 { |
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331 octave_idx_type which_eig = 0; |
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332 for (octave_idx_type i = 0; i < n_act; i++) |
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333 { |
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334 if (lambda_tmp(i) == min_lambda) |
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335 { |
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336 which_eig = i; |
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337 break; |
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338 } |
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339 } |
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340 |
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341 // At least one multiplier is negative, we |
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342 // remove it from the set. |
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343 |
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344 for (octave_idx_type i = which_eig; i < n_act - n_eq; i++) |
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345 { |
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346 Wact(i) = Wact(i+1); |
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347 for (octave_idx_type j = 0; j < n; j++) |
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348 Aact(n_eq+i,j) = Aact(n_eq+i+1,j); |
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349 bact(n_eq+i) = bact(n_eq+i+1); |
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350 } |
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351 n_act--; |
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352 |
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353 // Resizing the active set. |
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354 Wact.resize (n_act-n_eq); |
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355 bact.resize (n_act); |
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356 Aact.resize (n_act, n); |
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357 } |
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358 } |
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359 } |
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360 else |
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361 { |
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362 // The step is not null. |
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363 if (n_act - n_eq == n_in) |
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364 { |
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365 // All inequality constraints were active. We can |
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366 // add the whole step. |
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367 x += p; |
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368 } |
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369 else |
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370 { |
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371 // Some constraints were not active. Checking if |
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372 // there is a blocking constraint. |
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373 alpha = 1.0; |
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374 octave_idx_type is_block = -1; |
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375 |
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376 for (octave_idx_type i = 0; i < n_in; i++) |
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377 { |
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378 bool found = false; |
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379 |
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380 for (octave_idx_type j = 0; j < n_act-n_eq; j++) |
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381 { |
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382 if (Wact(j) == i) |
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383 { |
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384 found = true; |
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385 break; |
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386 } |
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387 } |
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388 |
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389 if (! found) |
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390 { |
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391 // The i-th constraint was not in the set. Is it a |
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392 // blocking constraint? |
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393 |
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394 RowVector tmp_row = Ain.row (i); |
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395 double tmp = tmp_row * p; |
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396 double res = tmp_row * x; |
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397 |
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398 if (tmp < 0.0) |
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399 { |
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400 double alpha_tmp = (bin(i) - res) / tmp; |
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401 |
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402 if (alpha_tmp < alpha) |
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403 { |
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404 alpha = alpha_tmp; |
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405 is_block = i; |
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406 } |
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407 } |
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408 } |
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409 } |
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410 |
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411 // In is_block there is the index of the blocking |
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412 // constraint (if any). |
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413 if (is_block >= 0) |
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414 { |
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415 // There is a blocking constraint (index in |
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416 // is_block) which is added to the active set. |
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417 n_act++; |
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418 Aact = Aact.stack (Ain.row (is_block)); |
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419 bact.resize (n_act, bin(is_block)); |
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420 Wact.resize (n_act-n_eq, is_block); |
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421 |
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422 // Adding the reduced step |
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423 x += alpha * p; |
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424 } |
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425 else |
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426 { |
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427 // There are no blocking constraints. Adding the |
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428 // whole step. |
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429 x += alpha * p; |
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430 } |
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431 } |
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432 } |
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433 |
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434 if (iter == maxit) |
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435 { |
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436 done = true; |
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437 // warning ("qp_main: maximum number of iteration reached"); |
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438 info = 3; |
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439 } |
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440 } |
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441 |
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442 lambda_tmp = Y.transpose () * (g + H * p); |
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443 |
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444 // Reordering the Lagrange multipliers. |
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445 |
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446 lambda.resize (n_tot); |
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447 lambda.fill (0.0); |
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448 for (octave_idx_type i = 0; i < n_eq; i++) |
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449 lambda(i) = lambda_tmp(i); |
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450 |
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451 for (octave_idx_type i = n_eq; i < n_tot; i++) |
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452 { |
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453 for (octave_idx_type j = 0; j < n_act-n_eq; j++) |
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454 { |
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455 if (Wact(j) == i - n_eq) |
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456 { |
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457 lambda(i) = lambda_tmp(n_eq+j); |
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458 break; |
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459 } |
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460 } |
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461 } |
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462 |
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463 return info; |
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464 } |
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465 |
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466 DEFUN_DLD (__qp__, args, , |
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467 "-*- texinfo -*-\n\ |
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468 @deftypefn {Loadable Function} {[@var{x}, @var{lambda}, @var{info}, @var{iter}] =} __qp__ (@var{x0}, @var{H}, @var{q}, @var{Aeq}, @var{beq}, @var{Ain}, @var{bin}, @var{maxit})\n\ |
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469 Undocumented internal function.\n\ |
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470 @end deftypefn") |
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471 { |
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472 octave_value_list retval; |
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473 |
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474 if (args.length () == 8) |
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475 { |
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476 const ColumnVector x0 (args(0) . vector_value ()); |
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477 const Matrix H (args(1) . matrix_value ()); |
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478 const ColumnVector q (args(2) . vector_value ()); |
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479 const Matrix Aeq (args(3) . matrix_value ()); |
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480 const ColumnVector beq (args(4) . vector_value ()); |
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481 const Matrix Ain (args(5) . matrix_value ()); |
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482 const ColumnVector bin (args(6) . vector_value ()); |
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483 const int maxit (args(7) . int_value ()); |
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484 |
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485 if (! error_state) |
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486 { |
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487 int iter = 0; |
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488 |
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489 // Copying the initial guess in the working variable |
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490 ColumnVector x = x0; |
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491 |
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492 // Reordering the Lagrange multipliers |
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493 ColumnVector lambda; |
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494 |
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495 int info = qp (H, q, Aeq, beq, Ain, bin, maxit, x, lambda, iter); |
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496 |
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497 retval(3) = iter; |
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498 retval(2) = info; |
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499 retval(1) = lambda; |
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500 retval(0) = x; |
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501 } |
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502 else |
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503 error ("__qp__: invalid arguments"); |
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504 } |
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505 else |
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5823
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506 print_usage (); |
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5290
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507 |
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508 return retval; |
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509 } |
