CoRiBoDynamics::SparseMatrixBuilder Class Reference

#include <SparseMatrixBuilder.h>

Inheritance diagram for CoRiBoDynamics::SparseMatrixBuilder:

Collaboration diagram for CoRiBoDynamics::SparseMatrixBuilder:

Classes
class	ConnectionSolverTask
class	SubMultiplicationTask
class	TridiagonalSubSolverTask

Public Member Functions
	SparseMatrixBuilder (CoreBoundThreadPool *ThreadPool)
void	StartBuilding (int size)
void	InitializeElementMatrix (int i, const mat6 &M)
	Resets matrix to zero.
void	AddToMatrixThreadSafe (int i, int j, const mat6 &M)
virtual double	ApplyLinearOperator (const Vector &x, Vector &y)
	add to submatrix at index i,j with mutex lock More...
virtual double	ApplyApproximateInverse (const Vector &b, Vector &x)
	perform matrix multiplication y = Ax More...
virtual void	ComputeApproximateInverse ()
	approximately solve the linear system Ax = b More...
virtual int	SystemSize ()
mat6	GetElementMatrix (int index)
void	SetDropSize (int size)
virtual int	SystemSize ()=0
virtual void	ComputeApproximateInverse ()=0
	returns the number of unknowns in the system; More...
virtual double	ApplyLinearOperator (const Vector &V, Vector &Result)=0
	performs any precomputations More...
virtual double	ApplyApproximateInverse (const Vector &V, Vector &Result)=0
	Applies the linear operator to the vector V and stores the value in Result. Returns Vt * A * V. More...

Protected Member Functions
void	AddToMatrix (int i, int j, const mat6 &M)
void	FillSubMatrix (SparseMat &result, std::vector< int >::iterator elements_begin, std::vector< int >::iterator elements_end)
	add to submatrix at index i,j

Protected Attributes
std::vector< MatrixConnectome::CRix >	m_connection_indices
std::vector< mat6, Eigen::aligned_allocator< mat6 > >	m_connection_matrices
std::mutex	m_ConnectionElementLock
int	m_size
std::mutex *	m_MatrixColumnLocks
	number of 6DOF elements in the system
MatrixConnectome	m_connectome
mat6 *	m_A_0_diagonal
mat6 *	m_A_1_diagonal
	the main diagonal blocks of the system matrix
mat6 *	m_U_0_diagonal
	first extra-diagonal of the system matrix
mat6 *	m_U_1_diagonal
	the main diagonal blocks of the block-tridiagonal UtU decomposition
bool *	m_set
	first extra-diagonal of the block-tridiagonal UtU decomposition
std::vector< ConnectionSolverTask >	m_connection_solver
std::vector< TridiagonalSubSolverTask >	m_TridiagonalSubSolverTask
std::vector< SubMultiplicationTask >	m_SubMultiplicationTask
	List of asynchronous block-tridiagonal sub domain solvers.
CoreBoundThreadPool *	m_ThreadPool
	list of asynchronous matrix sub domain

Detailed Description

Author

Jorgen Haavind Jensen

Matrix class for a symmetric 6x6-block-sparse matrix. The data structure and underlying iterative linear solvers are optimized under the assumption that "almost all" of the non zeros are located at or immediately next to the diagonal and that "almost all" of the tridiagonal blocks are filled.

In terms of structural connection topolgy, this translates loosely to "network of slender structures". Most of the connections are between consecutive elements, and the number of T-junctions or X-junctions are neglible

Manages parallellization for matrix inversion and matrix multiplication. Manages concurrency safety for matrix building

Revision history:

Q1 2012 JHJ: Initial version. Q1 2014 JHJ: Changed data structure from general pattern to tridiagonal pattern. Q2 2016 JHJ: Update to better handle disjoint element groups

Member Function Documentation

ApplyApproximateInverse()

virtual double CoRiBoDynamics::SparseMatrixBuilder::ApplyApproximateInverse ( const Vector &  b, Vector &  x  )

virtual

Implements CoRiBoDynamics::LinearOperator.

ApplyLinearOperator()

virtual double CoRiBoDynamics::SparseMatrixBuilder::ApplyLinearOperator ( const Vector &  x, Vector &  y  )

virtual

Implements CoRiBoDynamics::LinearOperator.

ComputeApproximateInverse()

virtual void CoRiBoDynamics::SparseMatrixBuilder::ComputeApproximateInverse ( )

virtual

Implements CoRiBoDynamics::LinearOperator.

SetDropSize()

void CoRiBoDynamics::SparseMatrixBuilder::SetDropSize ( int  size )

inline

tuning parameter. Defines size of expansion when building matrix for solving connections that are not on the 1 order diagonal

SystemSize()

virtual int CoRiBoDynamics::SparseMatrixBuilder::SystemSize ( )

virtual

Implements CoRiBoDynamics::LinearOperator.

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

• reloadrepos/fhsim_coribo/src/ConstraintSolver/SparseMatrixBuilder.h