Form of the augmented lagrangian for bc constraints. More...

#include <BCLagrangianForm.hpp>

Inheritance diagram for polyfem::solver::BCLagrangianForm:

Collaboration diagram for polyfem::solver::BCLagrangianForm:

Public Member Functions
	BCLagrangianForm (const int ndof, const std::vector< int > &boundary_nodes, const std::vector< mesh::LocalBoundary > &local_boundary, const std::vector< mesh::LocalBoundary > &local_neumann_boundary, const int n_boundary_samples, const StiffnessMatrix &mass, const assembler::RhsAssembler &rhs_assembler, const size_t obstacle_ndof, const bool is_time_dependent, const double t)
	Construct a new BCLagrangianForm object with a time dependent Dirichlet boundary.

std::string	name () const override

	BCLagrangianForm (const int ndof, const std::vector< int > &boundary_nodes, const StiffnessMatrix &mass, const size_t obstacle_ndof, const Eigen::MatrixXd &target_x)
	Construct a new BCLagrangianForm object with a fixed Dirichlet boundary.

double	value_unweighted (const Eigen::VectorXd &x) const override
	Compute the value of the form.

void	first_derivative_unweighted (const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const override
	Compute the first derivative of the value wrt x.

void	second_derivative_unweighted (const Eigen::VectorXd &x, StiffnessMatrix &hessian) const override
	Compute the second derivative of the value wrt x.

void	update_quantities (const double t, const Eigen::VectorXd &x) override
	Update time dependent quantities.

void	update_lagrangian (const Eigen::VectorXd &x, const double k_al) override

double	compute_error (const Eigen::VectorXd &x) const override

virtual bool	can_project () const override

virtual void	project_gradient (Eigen::VectorXd &grad) const override

virtual void	project_hessian (StiffnessMatrix &hessian) const override

Public Member Functions inherited from polyfem::solver::AugmentedLagrangianForm
	AugmentedLagrangianForm ()

virtual	~AugmentedLagrangianForm ()

void	set_initial_weight (const double k_al)

double	lagrangian_weight () const

const StiffnessMatrix &	constraint_matrix () const

const Eigen::MatrixXd &	constraint_value () const

const StiffnessMatrix &	constraint_projection_matrix () const

const Eigen::MatrixXd &	constraint_projection_vector () const

bool	has_projection () const

void	set_scale (const double scale) override
	sets the scale for the form

Public Member Functions inherited from polyfem::solver::Form
virtual	~Form ()

virtual void	init (const Eigen::VectorXd &x)
	Initialize the form.

virtual void	finish ()

virtual double	value (const Eigen::VectorXd &x) const
	Compute the value of the form multiplied with the weigth.

Eigen::VectorXd	value_per_element (const Eigen::VectorXd &x) const
	Compute the value of the form multiplied with the weigth.

virtual void	first_derivative (const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const
	Compute the first derivative of the value wrt x multiplied with the weigth.

void	second_derivative (const Eigen::VectorXd &x, StiffnessMatrix &hessian) const
	Compute the second derivative of the value wrt x multiplied with the weigth.

virtual bool	is_step_valid (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
	Determine if a step from solution x0 to solution x1 is allowed.

virtual double	max_step_size (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
	Determine the maximum step size allowable between the current and next solution.

virtual void	line_search_begin (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1)
	Initialize variables used during the line search.

virtual void	line_search_end ()
	Clear variables used during the line search.

virtual void	post_step (const polysolve::nonlinear::PostStepData &data)
	Update fields after a step in the optimization.

virtual void	solution_changed (const Eigen::VectorXd &new_x)
	Update cached fields upon a change in the solution.

virtual void	init_lagging (const Eigen::VectorXd &x)
	Initialize lagged fields TODO: more than one step.

virtual void	update_lagging (const Eigen::VectorXd &x, const int iter_num)
	Update lagged fields.

virtual int	max_lagging_iterations () const
	Get the maximum number of lagging iteration allowable.

virtual bool	uses_lagging () const
	Does this form require lagging?

void	set_project_to_psd (bool val)
	Set project to psd.

bool	is_project_to_psd () const
	Get if the form's second derivative is projected to psd.

void	enable ()
	Enable the form.

void	disable ()
	Disable the form.

void	set_enabled (const bool enabled)
	Set if the form is enabled.

bool	enabled () const
	Determine if the form is enabled.

virtual double	weight () const
	Get the form's multiplicative constant weight.

void	set_weight (const double weight)
	Set the form's multiplicative constant weight.

virtual bool	is_step_collision_free (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
	Checks if the step is collision free.

void	set_output_dir (const std::string &output_dir)

Private Member Functions
void	init_masked_lumped_mass (const StiffnessMatrix &mass, const size_t obstacle_ndof)
	Initialize the masked lumped mass matrix.

void	update_target (const double t)
	Update target x to the Dirichlet boundary values at time t.

Private Attributes
const std::vector< int > &	boundary_nodes_

const std::vector< mesh::LocalBoundary > *	local_boundary_

const std::vector< mesh::LocalBoundary > *	local_neumann_boundary_

const int	n_boundary_samples_

const int	n_dofs_

Eigen::VectorXi	constraints_
	Constraints.

Eigen::VectorXi	not_constraints_
	Not Constraints.

const assembler::RhsAssembler *	rhs_assembler_
	Reference to the RHS assembler.

const bool	is_time_dependent_

StiffnessMatrix	masked_lumped_mass_sqrt_
	sqrt mass matrix masked by the AL dofs

StiffnessMatrix	masked_lumped_mass_
	mass matrix masked by the AL dofs

Additional Inherited Members
Protected Member Functions inherited from polyfem::solver::AugmentedLagrangianForm
double	L_weight () const

double	A_weight () const

Protected Member Functions inherited from polyfem::solver::Form
std::string	resolve_output_path (const std::string &path) const

virtual Eigen::VectorXd	value_per_element_unweighted (const Eigen::VectorXd &x) const
	Compute the value of the form multiplied per element.

Protected Attributes inherited from polyfem::solver::AugmentedLagrangianForm
double	k_al_
	penalty parameter

Eigen::VectorXd	lagr_mults_
	vector of lagrange multipliers

StiffnessMatrix	A_
	Constraints matrix.

Eigen::MatrixXd	b_
	Constraints value.

StiffnessMatrix	A_proj_
	Constraints projection matrix.

Eigen::MatrixXd	b_proj_
	Constraints projection value.

Protected Attributes inherited from polyfem::solver::Form
bool	project_to_psd_ = false
	If true, the form's second derivative is projected to be positive semidefinite.

double	weight_ = 1
	weight of the form (e.g., AL penalty weight or Δt²)

bool	enabled_ = true
	If true, the form is enabled.

std::string	output_dir_

Detailed Description

Form of the augmented lagrangian for bc constraints.

Definition at line 12 of file BCLagrangianForm.hpp.

Constructor & Destructor Documentation

◆ BCLagrangianForm() [1/2]

polyfem::solver::BCLagrangianForm::BCLagrangianForm	(	const int	ndof,
		const std::vector< int > &	boundary_nodes,
		const std::vector< mesh::LocalBoundary > &	local_boundary,
		const std::vector< mesh::LocalBoundary > &	local_neumann_boundary,
		const int	n_boundary_samples,
		const StiffnessMatrix &	mass,
		const assembler::RhsAssembler &	rhs_assembler,
		const size_t	obstacle_ndof,
		const bool	is_time_dependent,
		const double	t
	)

Construct a new BCLagrangianForm object with a time dependent Dirichlet boundary.

Parameters

ndof	Number of degrees of freedom
boundary_nodes	DoFs that are part of the Dirichlet boundary
local_boundary
local_neumann_boundary
n_boundary_samples
mass	Mass matrix
rhs_assembler	Right hand side assembler
obstacle_ndof	Obstacle's number of DOF
is_time_dependent	Whether the problem is time dependent
t	Current time

Definition at line 8 of file BCLagrangianForm.cpp.

References init_masked_lumped_mass(), and update_target().

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◆ BCLagrangianForm() [2/2]

polyfem::solver::BCLagrangianForm::BCLagrangianForm	(	const int	ndof,
		const std::vector< int > &	boundary_nodes,
		const StiffnessMatrix &	mass,
		const size_t	obstacle_ndof,
		const Eigen::MatrixXd &	target_x
	)

Construct a new BCLagrangianForm object with a fixed Dirichlet boundary.

Parameters

ndof	Number of degrees of freedom
boundary_nodes	DoFs that are part of the Dirichlet boundary
mass	Mass matrix
obstacle_ndof	Obstacle's number of DOF
target_x	Target values for the boundary DoFs

Definition at line 30 of file BCLagrangianForm.cpp.

References polyfem::solver::AugmentedLagrangianForm::b_, polyfem::solver::AugmentedLagrangianForm::b_proj_, constraints_, and init_masked_lumped_mass().

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Member Function Documentation

◆ can_project()

bool polyfem::solver::BCLagrangianForm::can_project ( ) const

overridevirtual

Reimplemented from polyfem::solver::AugmentedLagrangianForm.

Definition at line 145 of file BCLagrangianForm.cpp.

◆ compute_error()

double polyfem::solver::BCLagrangianForm::compute_error ( const Eigen::VectorXd & x ) const

overridevirtual

Implements polyfem::solver::AugmentedLagrangianForm.

Definition at line 186 of file BCLagrangianForm.cpp.

References polyfem::solver::AugmentedLagrangianForm::A_, polyfem::solver::AugmentedLagrangianForm::b_, and x.

◆ first_derivative_unweighted()

void polyfem::solver::BCLagrangianForm::first_derivative_unweighted	(	const Eigen::VectorXd &	x,
		Eigen::VectorXd &	gradv
	)		const

overridevirtual

Compute the first derivative of the value wrt x.

Parameters

[in]	x	Current solution
[out]	gradv	Output gradient of the value wrt x

Implements polyfem::solver::Form.

Definition at line 170 of file BCLagrangianForm.cpp.

References polyfem::solver::AugmentedLagrangianForm::A_, polyfem::solver::AugmentedLagrangianForm::A_weight(), polyfem::solver::AugmentedLagrangianForm::b_, polyfem::solver::AugmentedLagrangianForm::L_weight(), polyfem::solver::AugmentedLagrangianForm::lagr_mults_, masked_lumped_mass_, masked_lumped_mass_sqrt_, and x.

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◆ init_masked_lumped_mass()

void polyfem::solver::BCLagrangianForm::init_masked_lumped_mass	(	const StiffnessMatrix &	mass,
		const size_t	obstacle_ndof
	)

private

Initialize the masked lumped mass matrix.

Parameters

mass	Mass matrix
obstacle_ndof	Obstacle's number of DOF

Definition at line 50 of file BCLagrangianForm.cpp.

References polyfem::solver::AugmentedLagrangianForm::A_, polyfem::solver::AugmentedLagrangianForm::A_proj_, boundary_nodes_, constraints_, polyfem::solver::AugmentedLagrangianForm::lagr_mults_, polyfem::logger(), polyfem::utils::lump_matrix(), masked_lumped_mass_, masked_lumped_mass_sqrt_, n_dofs_, not_constraints_, and polyfem::utils::sparse_identity().

Referenced by BCLagrangianForm(), and BCLagrangianForm().

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◆ name()

std::string polyfem::solver::BCLagrangianForm::name ( ) const

inlineoverridevirtual

Implements polyfem::solver::Form.

Definition at line 37 of file BCLagrangianForm.hpp.

◆ project_gradient()

void polyfem::solver::BCLagrangianForm::project_gradient ( Eigen::VectorXd & grad ) const

overridevirtual

Reimplemented from polyfem::solver::AugmentedLagrangianForm.

Definition at line 147 of file BCLagrangianForm.cpp.

References not_constraints_.

◆ project_hessian()

void polyfem::solver::BCLagrangianForm::project_hessian ( StiffnessMatrix & hessian ) const

overridevirtual

Reimplemented from polyfem::solver::AugmentedLagrangianForm.

Definition at line 155 of file BCLagrangianForm.cpp.

References not_constraints_.

◆ second_derivative_unweighted()

void polyfem::solver::BCLagrangianForm::second_derivative_unweighted	(	const Eigen::VectorXd &	x,
		StiffnessMatrix &	hessian
	)		const

overridevirtual

Compute the second derivative of the value wrt x.

Parameters

[in]	x	Current solution
[out]	hessian	Output Hessian of the value wrt x

Implements polyfem::solver::Form.

Definition at line 175 of file BCLagrangianForm.cpp.

References polyfem::solver::AugmentedLagrangianForm::A_, polyfem::solver::AugmentedLagrangianForm::A_weight(), and masked_lumped_mass_.

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◆ update_lagrangian()

void polyfem::solver::BCLagrangianForm::update_lagrangian	(	const Eigen::VectorXd &	x,
		const double	k_al
	)

overridevirtual

Implements polyfem::solver::AugmentedLagrangianForm.

Definition at line 206 of file BCLagrangianForm.cpp.

References polyfem::solver::AugmentedLagrangianForm::A_, polyfem::solver::AugmentedLagrangianForm::b_, polyfem::solver::AugmentedLagrangianForm::k_al_, polyfem::solver::AugmentedLagrangianForm::lagr_mults_, masked_lumped_mass_sqrt_, and x.

◆ update_quantities()

void polyfem::solver::BCLagrangianForm::update_quantities	(	const double	t,
		const Eigen::VectorXd &	x
	)

overridevirtual

Update time dependent quantities.

Parameters

t	New time
x	Solution at time t

Reimplemented from polyfem::solver::Form.

Definition at line 180 of file BCLagrangianForm.cpp.

References is_time_dependent_, and update_target().

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◆ update_target()

void polyfem::solver::BCLagrangianForm::update_target ( const double t )

private

Update target x to the Dirichlet boundary values at time t.

Parameters

t	Current time

Definition at line 193 of file BCLagrangianForm.cpp.

References polyfem::solver::AugmentedLagrangianForm::b_, polyfem::solver::AugmentedLagrangianForm::b_proj_, boundary_nodes_, constraints_, local_boundary_, local_neumann_boundary_, n_boundary_samples_, n_dofs_, rhs_assembler_, and polyfem::assembler::RhsAssembler::set_bc().

Referenced by BCLagrangianForm(), and update_quantities().

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◆ value_unweighted()

double polyfem::solver::BCLagrangianForm::value_unweighted ( const Eigen::VectorXd & x ) const

overridevirtual

Compute the value of the form.

Parameters

x	Current solution

Returns: Computed value

Implements polyfem::solver::Form.

Definition at line 161 of file BCLagrangianForm.cpp.

References polyfem::solver::AugmentedLagrangianForm::A_, polyfem::solver::AugmentedLagrangianForm::A_weight(), polyfem::solver::AugmentedLagrangianForm::b_, polyfem::solver::AugmentedLagrangianForm::L_weight(), polyfem::solver::AugmentedLagrangianForm::lagr_mults_, masked_lumped_mass_, masked_lumped_mass_sqrt_, and x.

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Member Data Documentation

◆ boundary_nodes_

const std::vector<int>& polyfem::solver::BCLagrangianForm::boundary_nodes_

private

Definition at line 84 of file BCLagrangianForm.hpp.

Referenced by init_masked_lumped_mass(), and update_target().

◆ constraints_

Eigen::VectorXi polyfem::solver::BCLagrangianForm::constraints_

private

Constraints.

Definition at line 89 of file BCLagrangianForm.hpp.

Referenced by BCLagrangianForm(), init_masked_lumped_mass(), and update_target().

◆ is_time_dependent_

const bool polyfem::solver::BCLagrangianForm::is_time_dependent_

private

Definition at line 93 of file BCLagrangianForm.hpp.

Referenced by update_quantities().

◆ local_boundary_

const std::vector<mesh::LocalBoundary>* polyfem::solver::BCLagrangianForm::local_boundary_

private

Definition at line 85 of file BCLagrangianForm.hpp.

Referenced by update_target().

◆ local_neumann_boundary_

const std::vector<mesh::LocalBoundary>* polyfem::solver::BCLagrangianForm::local_neumann_boundary_

private

Definition at line 86 of file BCLagrangianForm.hpp.

Referenced by update_target().

◆ masked_lumped_mass_

StiffnessMatrix polyfem::solver::BCLagrangianForm::masked_lumped_mass_

private

mass matrix masked by the AL dofs

Definition at line 96 of file BCLagrangianForm.hpp.

Referenced by first_derivative_unweighted(), init_masked_lumped_mass(), second_derivative_unweighted(), and value_unweighted().

◆ masked_lumped_mass_sqrt_

StiffnessMatrix polyfem::solver::BCLagrangianForm::masked_lumped_mass_sqrt_

private

sqrt mass matrix masked by the AL dofs

Definition at line 95 of file BCLagrangianForm.hpp.

Referenced by first_derivative_unweighted(), init_masked_lumped_mass(), update_lagrangian(), and value_unweighted().

◆ n_boundary_samples_

const int polyfem::solver::BCLagrangianForm::n_boundary_samples_

private

Definition at line 87 of file BCLagrangianForm.hpp.

Referenced by update_target().

◆ n_dofs_

const int polyfem::solver::BCLagrangianForm::n_dofs_

private

Definition at line 88 of file BCLagrangianForm.hpp.

Referenced by init_masked_lumped_mass(), and update_target().

◆ not_constraints_

Eigen::VectorXi polyfem::solver::BCLagrangianForm::not_constraints_

private

Not Constraints.

Definition at line 90 of file BCLagrangianForm.hpp.

Referenced by init_masked_lumped_mass(), project_gradient(), and project_hessian().

◆ rhs_assembler_

const assembler::RhsAssembler* polyfem::solver::BCLagrangianForm::rhs_assembler_

private

Reference to the RHS assembler.

Definition at line 92 of file BCLagrangianForm.hpp.

Referenced by update_target().

The documentation for this class was generated from the following files:

src/polyfem/solver/forms/lagrangian/BCLagrangianForm.hpp
src/polyfem/solver/forms/lagrangian/BCLagrangianForm.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BCLagrangianForm() [1/2]

◆ BCLagrangianForm() [2/2]

Member Function Documentation

◆ can_project()

◆ compute_error()

◆ first_derivative_unweighted()

◆ init_masked_lumped_mass()

◆ name()

◆ project_gradient()

◆ project_hessian()

◆ second_derivative_unweighted()

◆ update_lagrangian()

◆ update_quantities()

◆ update_target()

◆ value_unweighted()

Member Data Documentation

◆ boundary_nodes_

◆ constraints_

◆ is_time_dependent_

◆ local_boundary_

◆ local_neumann_boundary_

◆ masked_lumped_mass_

◆ masked_lumped_mass_sqrt_

◆ n_boundary_samples_

◆ n_dofs_

◆ not_constraints_

◆ rhs_assembler_