Actual source code: icp.c
2: #include "icp.h"
3: static int TaoSetDown_ICP(TAO_SOLVER, void*);
7: static int TaoSetUp_ICP(TAO_SOLVER tao, void *solver)
8: {
9: TAO_ICP *qp =(TAO_ICP*)solver;
10: int info;
11: TaoInt n;
13: TaoFunctionBegin;
15: /* Set pointers to Data */
16: info = TaoGetJacobian(tao,&qp->J);CHKERRQ(info);
17: info = TaoGetSolution(tao,&qp->x);CHKERRQ(info);
18: info = qp->x->GetDimension(&qp->n); CHKERRQ(info);
20: /* Allocate some arrays */
21: info = qp->x->Clone(&qp->f); CHKERRQ(info);
22: info = qp->x->Clone(&qp->g2); CHKERRQ(info);
23: info = qp->x->Clone(&qp->work); CHKERRQ(info);
24: info = qp->x->Clone(&qp->dx); CHKERRQ(info);
25: info = qp->x->Clone(&qp->JDiag); CHKERRQ(info);
26: info = qp->x->Clone(&qp->diagaxpy); CHKERRQ(info);
27: info = qp->x->Clone(&qp->rhs); CHKERRQ(info);
28: info = qp->x->Clone(&qp->rhs2); CHKERRQ(info);
29: info = qp->x->Clone(&qp->r12); CHKERRQ(info);
31: info = qp->x->Clone(&qp->xl); CHKERRQ(info);
32: info = qp->xl->Clone(&qp->g); CHKERRQ(info);
33: info = qp->xl->Clone(&qp->dg); CHKERRQ(info);
34: info = qp->xl->Clone(&qp->z); CHKERRQ(info);
35: info = qp->xl->Clone(&qp->dz); CHKERRQ(info);
36: info = qp->xl->Clone(&qp->gzwork); CHKERRQ(info);
37: info = qp->xl->Clone(&qp->r3); CHKERRQ(info);
39: info = qp->x->Clone(&qp->xu); CHKERRQ(info);
40: info = qp->xu->Clone(&qp->t); CHKERRQ(info);
41: info = qp->xu->Clone(&qp->dt); CHKERRQ(info);
42: info = qp->xu->Clone(&qp->s); CHKERRQ(info);
43: info = qp->xu->Clone(&qp->ds); CHKERRQ(info);
44: info = qp->xu->Clone(&qp->tswork); CHKERRQ(info);
45: info = qp->xu->Clone(&qp->r5); CHKERRQ(info);
47: info = TaoSetVariableBounds(tao,qp->xl,qp->xu);CHKERRQ(info);
48: info = TaoSetStepDirectionVector(tao,qp->dx);CHKERRQ(info);
49: info = TaoSetLagrangianGradientVector(tao,qp->g2);CHKERRQ(info);
51: /* Register the Events */
52: info = qp->x->GetDimension(&qp->n); CHKERRQ(info);
54: qp->m=0;
55: info=qp->g->GetDimension(&n); CHKERRQ(info); qp->m+=n;
56: info=qp->t->GetDimension(&n); CHKERRQ(info); qp->m+=n;
58: info = TaoCreateLinearSolver(tao,qp->J,300,0); CHKERRQ(info);
60: TaoFunctionReturn(0);
61: }
65: static int QPIPSetInitialPoint(TAO_SOLVER tao, TAO_ICP *qp)
66: {
67: int info;
68: double p01=1.0e-2;
69: double mu;
70: double dd1,dd2;
71: TaoVec *g = qp->g, *z=qp->z, *s=qp->s, *t=qp->t;
72: TaoVec *gzwork=qp->gzwork, *tswork=qp->tswork;
73: TaoVec *rhs=qp->rhs, *r12=qp->r12;
74: TaoVec *x = qp->x, *xl=qp->xl, *xu=qp->xu, *f=qp->f;
75: TaoVec *work=qp->work;
77: TaoFunctionBegin;
79: /* Initialize Primal Vectors */
80: info = t->Waxpby(1.0,xu,-1.0,x);CHKERRQ(info);
81: info = g->Waxpby(1.0,x,-1.0,xl);CHKERRQ(info);
83: info = gzwork->SetToConstant(p01);CHKERRQ(info);
84: info = tswork->SetToConstant(p01);CHKERRQ(info);
86: info = g->PointwiseMaximum(g,gzwork); CHKERRQ(info);
87: info = t->PointwiseMaximum(t,tswork); CHKERRQ(info);
89: /* Initialize Dual Variable Vectors */
91: info = z->CopyFrom(g); CHKERRQ(info);
92: info = z->Reciprocal(); CHKERRQ(info);
94: info = s->CopyFrom(t); CHKERRQ(info);
95: info = s->Reciprocal(); CHKERRQ(info);
96:
97: info = r12->Waxpby(1.0,s,-1.0,z);CHKERRQ(info);
98: info = rhs->CopyFrom(f);CHKERRQ(info);
99:
100: info = rhs->AbsoluteValue(); CHKERRQ(info);
101: info = r12->AbsoluteValue(); CHKERRQ(info);
102: info = work->SetToConstant(p01);CHKERRQ(info);
103: info = rhs->PointwiseMaximum(rhs,work); CHKERRQ(info);
104: info = r12->PointwiseMaximum(r12,work); CHKERRQ(info);
105:
106: info = rhs->PointwiseDivide(rhs,r12); CHKERRQ(info);
107:
108: info = r12->Norm1(&qp->dinfeas); CHKERRQ(info);
109: mu = (qp->dinfeas)/(qp->n);
110:
111: info = s->Scale(mu); CHKERRQ(info);
112: info = z->Scale(mu); CHKERRQ(info);
113:
114: info = QPIPComputeResidual(qp); CHKERRQ(info);
115: info = TAOComputeNormFromCentralPath_ICP(tao,&dd2); CHKERRQ(info);
116: dd1=TaoMax(qp->pathnorm,1.0e-2);
117: while ( (qp->dinfeas+qp->pinfeas)/(qp->m+qp->n) >= qp->mu ){
118:
119: info=g->AddConstant(dd1); CHKERRQ(info);
120: info=z->AddConstant(dd1); CHKERRQ(info);
121: info=s->AddConstant(dd1); CHKERRQ(info);
122: info=t->AddConstant(dd1); CHKERRQ(info);
124: info = QPIPComputeResidual(qp); CHKERRQ(info);
125: info = TAOComputeNormFromCentralPath_ICP(tao,&dd2); CHKERRQ(info);
126:
127: qp->dobj = qp->pobj - qp->gap;
128: qp->rgap=qp->gap/( TaoAbsScalar(qp->dobj) + TaoAbsScalar(qp->pobj) + 1.0 );
129: dd1=dd1*2;
130: }
132: TaoFunctionReturn(0);
133: }
138: static int TaoSetDown_ICP(TAO_SOLVER tao, void*solver)
139: {
140: TAO_ICP *qp = (TAO_ICP*)solver;
141: int info;
143: /* Free allocated memory in GPCG structure */
144: TaoFunctionBegin;
146: info=TaoVecDestroy(qp->g2);CHKERRQ(info);
147: info=TaoVecDestroy(qp->g);CHKERRQ(info);
148: info=TaoVecDestroy(qp->dg);CHKERRQ(info);
149: info=TaoVecDestroy(qp->z);CHKERRQ(info);
150: info=TaoVecDestroy(qp->dz);CHKERRQ(info);
151: info=TaoVecDestroy(qp->gzwork);CHKERRQ(info);
152: info=TaoVecDestroy(qp->r3);CHKERRQ(info);
153: info=TaoVecDestroy(qp->xl);CHKERRQ(info);
154:
155: info=TaoVecDestroy(qp->s);CHKERRQ(info);
156: info=TaoVecDestroy(qp->ds);CHKERRQ(info);
157: info=TaoVecDestroy(qp->t);CHKERRQ(info);
158: info=TaoVecDestroy(qp->dt);CHKERRQ(info);
159: info=TaoVecDestroy(qp->tswork);CHKERRQ(info);
160: info=TaoVecDestroy(qp->r5);CHKERRQ(info);
161: info=TaoVecDestroy(qp->xu);CHKERRQ(info);
162:
163: info=TaoVecDestroy(qp->f);CHKERRQ(info);
164: info=TaoVecDestroy(qp->JDiag);CHKERRQ(info);
165: info=TaoVecDestroy(qp->work);CHKERRQ(info);
166: info=TaoVecDestroy(qp->diagaxpy);CHKERRQ(info);
167: info=TaoVecDestroy(qp->rhs);CHKERRQ(info);
168: info=TaoVecDestroy(qp->rhs2);CHKERRQ(info);
169: info=TaoVecDestroy(qp->dx);CHKERRQ(info);
170: info=TaoVecDestroy(qp->r12);CHKERRQ(info);
171:
172: info = TaoDestroyLinearSolver(tao);CHKERRQ(info);
174: info = TaoSetVariableBounds(tao,0,0);CHKERRQ(info);
175: info = TaoSetStepDirectionVector(tao,0);CHKERRQ(info);
176: info = TaoSetLagrangianGradientVector(tao,qp->g2);CHKERRQ(info);
178: TaoFunctionReturn(0);
179: }
183: static int TaoSolve_ICP(TAO_SOLVER tao, void *solver)
184: {
185: TAO_ICP *qp = (TAO_ICP*)solver;
186: TaoVec *x = qp->x, *xl=qp->xl, *xu=qp->xu, *f=qp->f;
187: TaoVec *g = qp->g, *z=qp->z, *s=qp->s, *t=qp->t;
188: TaoVec *dg=qp->dg, *dz=qp->dz, *ds=qp->ds, *dt=qp->dt;
189: TaoVec *gzwork=qp->gzwork, *tswork=qp->tswork;
190: TaoVec *rhs=qp->rhs, *rhs2=qp->rhs2;
191: TaoVec *diagaxpy=qp->diagaxpy, *dx=qp->dx;
192: TaoVec *r3=qp->r3,*r5=qp->r5;
193: TaoVec *JDiag=qp->JDiag;
194: TaoMat *J;
195: int info;
196: TaoInt iter=0;
197: TaoInt n;
198: double d1,ksptol;
199: double sigmamu;// sigma;
200: double dstep,pstep,step=0;
201: double gap[4];
202: TaoTruth kspsuccess;
203: TaoTerminateReason reason;
204: TaoLinearSolver *qpksp;
206: TaoFunctionBegin;
208: info = TaoGetSolution(tao,&x);CHKERRQ(info); qp->x=x;
209: info = TaoGetJacobian(tao,&J);CHKERRQ(info); qp->J=J;
211: info = x->Median(xl,x,xu); CHKERRQ(info);
212: info = TaoEvaluateVariableBounds(tao,xl,xu); CHKERRQ(info);
213: info = TaoComputeConstraints(tao, x, f); CHKERRQ(info);
214:
215: info = x->GetDimension(&n);CHKERRQ(info);
217: info = QPIPSetInitialPoint(tao,qp); CHKERRQ(info);
218:
219: /* Enter main loop */
220: while (1){
222: info = QPIPComputeResidual(qp); CHKERRQ(info);
223: info = TAOComputeNormFromCentralPath_ICP(tao,&d1); CHKERRQ(info);
224:
225: /* Check Stopping Condition */
226: info=TaoMonitor(tao,iter++,qp->gap,(qp->gap+qp->dinfeas),qp->pinfeas,
227: step,&reason); CHKERRQ(info);
228: if (reason != TAO_CONTINUE_ITERATING) break;
230: info = rhs->ScaleCopyFrom(-1.0,f); CHKERRQ(info);
231:
232: info = diagaxpy->SetToZero(); CHKERRQ(info);
233:
234: info = gzwork->PointwiseDivide(z,g); CHKERRQ(info);
235: info = diagaxpy->Axpy(1.0,gzwork); CHKERRQ(info);
236: info = gzwork->PointwiseMultiply(gzwork,r3); CHKERRQ(info);
237: info = rhs->Axpy(-1.0,gzwork); CHKERRQ(info);
238:
239: info = tswork->PointwiseDivide(s,t); CHKERRQ(info);
240: info = diagaxpy->Axpy(1.0,tswork); CHKERRQ(info);
241: info = tswork->PointwiseMultiply(tswork,r5); CHKERRQ(info);
242: info = rhs->Axpy(-1.0,tswork); CHKERRQ(info);
243: /*
244: info = dz->SetToZero(); CHKERRQ(info);
245: info = dg->SetToZero(); CHKERRQ(info);
246: info = ds->SetToZero(); CHKERRQ(info);
247: info = dt->SetToZero(); CHKERRQ(info);
248: */
249: /* Add centrality part */
250: if (iter > 0 && (qp->rnorm>5*qp->mu || d1*d1>qp->m*qp->mu*qp->mu) ) {
251: sigmamu=qp->mu;//sigma=1.0;
252: sigmamu=0;//sigma=0.0;
253: } else {
254: sigmamu=0;//sigma=0.0;
255: }
256: sigmamu=0.1*qp->mu;//sigma=0.1;
257: sigmamu=0.0*qp->mu;//sigma=0.0;
258: info = dz->SetToConstant(sigmamu); CHKERRQ(info);
259: info = ds->SetToConstant(sigmamu); CHKERRQ(info);
260: // printf("TargetMu: %4.2e\n",sigmamu);
261: if (sigmamu !=0){
262: info = dz->PointwiseDivide(dz,g); CHKERRQ(info);
263: info = ds->PointwiseDivide(ds,t); CHKERRQ(info);
264: info = rhs->Axpy(1.0,dz); CHKERRQ(info);
265: info = rhs->Axpy(-1.0,ds); CHKERRQ(info);
266: } else {
267: // info = qp->RHS2->SetToZero(); CHKERRQ(info);
268: }
270: qp->usedcorrector=TAO_FALSE;
271: qp->sigmamu=sigmamu;
275: /* Determine the solving tolerance */
276: ksptol = qp->mu/10.0;
277: ksptol = TaoMin(ksptol,0.00000000001);
278: info = TaoGetLinearSolver(tao,&qpksp); CHKERRQ(info);
279: /*
280: info = qpksp->SetTolerances(ksptol,1e-30,1e30,2*n); CHKERRQ(info);
281: */
283: info = TaoComputeJacobian(tao,x,J); CHKERRQ(info);
284: info = J->GetDiagonal(JDiag); CHKERRQ(info);
285: info = J->AddDiagonal(diagaxpy); CHKERRQ(info);
287: info = TaoPreLinearSolve(tao,J);CHKERRQ(info);
288: info = TaoLinearSolve(tao,J,rhs,dx,&kspsuccess);CHKERRQ(info);
290: info = QPComputeStepDirection(qp); CHKERRQ(info);
291: info = QPStepLength(qp); CHKERRQ(info);
293: /* Calculate New Residual R1 in Work vector */
294: info=dg->Dot(dz, gap); CHKERRQ(info);
295: info=dt->Dot(ds, gap+1); CHKERRQ(info);
296:
297: qp->rnorm=(qp->dinfeas+qp->psteplength*qp->pinfeas)/(qp->m+qp->n);
298: pstep = qp->psteplength; dstep = qp->dsteplength;
299: step = TaoMin(qp->psteplength,qp->dsteplength);
300: // printf("Step: %4.2f\n",step);
301: step=1-step;
302: sigmamu = step*step*step*qp->mu;
303: // sigmamu = 0;
304: qp->sigmamu=sigmamu;
305: /*
306: ( pstep*pstep*(gap[0]+gap[1]) +
307: (1 - pstep + pstep*sigma)*qp->gap )/qp->m;
308: */
309: if (1==1 && /* && qp->predcorr &&*/ step < 1.99){
310:
311: /*
312: if (sigmamu < qp->mu){
313: sigmamu=sigmamu/qp->mu;
314: sigmamu=sigmamu*sigmamu*sigmamu;
315: } else {sigmamu = 1.0;}
316: sigmamu = 0.0*qp->mu;
317: */
318: qp->usedcorrector=TAO_TRUE;
319: /* Compute Corrector Step */
320: info = gzwork->PointwiseMultiply(dg,dz); CHKERRQ(info);
321: info = gzwork->Negate(); CHKERRQ(info);
322: info = gzwork->AddConstant(sigmamu); CHKERRQ(info);
323: info = gzwork->PointwiseDivide(gzwork,g); CHKERRQ(info);
325: info = tswork->PointwiseMultiply(ds,dt); CHKERRQ(info);
326: info = tswork->Negate(); CHKERRQ(info);
327: info = tswork->AddConstant(sigmamu); CHKERRQ(info);
328: info = tswork->PointwiseDivide(tswork,t); CHKERRQ(info);
329:
330: info = rhs2->Waxpby(1.0,gzwork,-1.0,tswork); CHKERRQ(info);
331: info = rhs2->Axpy(1.0,rhs); CHKERRQ(info);
333: info = TaoLinearSolve(tao,J,rhs2,dx,&kspsuccess);CHKERRQ(info);
334:
335: info = QPComputeStepDirection(qp); CHKERRQ(info);
336: info = QPStepLength(qp); CHKERRQ(info);
338: } /* End Corrector step */
341: /* Take the step */
342: pstep = qp->psteplength; dstep = qp->dsteplength;
344: info = z->Axpy(dstep,dz); CHKERRQ(info);
345: info = s->Axpy(dstep,ds); CHKERRQ(info);
346: info = x->Axpy(dstep,dx); CHKERRQ(info);
347: info = g->Axpy(pstep,dg); CHKERRQ(info);
348: info = t->Axpy(pstep,dt); CHKERRQ(info);
349:
350: info = TaoComputeConstraints(tao, x, f); CHKERRQ(info);
352: } /* END MAIN LOOP */
354: TaoFunctionReturn(0);
355: }
359: static int QPComputeStepDirection(TAO_ICP *qp)
360: {
361: int info;
362: double gap1,gap2;
363: TaoVec *g = qp->g, *z=qp->z, *s=qp->s, *t=qp->t;
364: TaoVec *dg=qp->dg, *dz=qp->dz, *ds=qp->ds, *dt=qp->dt;
365: TaoVec *gzwork=qp->gzwork, *tswork=qp->tswork;
366: TaoVec *dx=qp->dx;
367: TaoVec *r3=qp->r3,*r5=qp->r5;
369: TaoFunctionBegin;
371: if (qp->usedcorrector==TAO_TRUE){
372: info = dz->PointwiseMultiply(dz,dg); CHKERRQ(info);
373: info = dz->PointwiseDivide(dz,g); CHKERRQ(info);
374: info = dz->Negate(); CHKERRQ(info);
375:
376: info = ds->PointwiseMultiply(ds,dt); CHKERRQ(info);
377: info = ds->PointwiseDivide(ds,t); CHKERRQ(info);
378: info = ds->Negate(); CHKERRQ(info);
379: }
380: /*
381: info = dz->SetToZero(); CHKERRQ(info);
382: info = ds->SetToZero(); CHKERRQ(info);
383: */
384: /* Calculate DG */
385: info = dg->Waxpby(1.0,dx,1.0,r3);CHKERRQ(info);
387: /* Calculate DT */
388: info = dt->Waxpby(-1.0,dx,-1.0,r5);CHKERRQ(info);
390: /* Calculate DZ */
391: info = gzwork->PointwiseMultiply(dg,z); CHKERRQ(info);
392: info = gzwork->Negate(); CHKERRQ(info);
393: info = gzwork->AddConstant(qp->sigmamu); CHKERRQ(info);
394: info = gzwork->PointwiseDivide(gzwork,g); CHKERRQ(info);
395: info = gzwork->Axpy(-1.0,z);CHKERRQ(info);
397: info = dz->Axpy(1.0,gzwork);CHKERRQ(info);
398: // info = qp->DZ->CopyFrom(qp->GZwork);CHKERRQ(info);
400: /* Calculate DS */
401: info = tswork->PointwiseMultiply(dt,s); CHKERRQ(info);
402: info = tswork->Negate(); CHKERRQ(info);
403: info = tswork->AddConstant(qp->sigmamu); CHKERRQ(info);
404: info = tswork->PointwiseDivide(tswork,t); CHKERRQ(info);
405: info = tswork->Axpy(-1.0,s);CHKERRQ(info);
406: info = ds->Axpy(1.0,tswork);CHKERRQ(info);
407: // info = qp->DS->CopyFrom(qp->TSwork);CHKERRQ(info);
409: info = ds->Dot(dt,&gap1); CHKERRQ(info);
410: info = dg->Dot(dz,&gap2); CHKERRQ(info);
411: // printf("Gap Reduce: %4.2e \n",gap1+gap2);
412: TaoFunctionReturn(0);
413: }
417: static int QPIPComputeResidual(TAO_ICP *qp)
418: {
419: int info;
420: double gap1,gap2,dtmp = 1.0 - qp->psteplength;
421: TaoVec *x = qp->x, *xl=qp->xl, *xu=qp->xu, *f=qp->f;
422: TaoVec *g = qp->g, *z=qp->z, *s=qp->s, *t=qp->t;
423: TaoVec *rhs=qp->rhs;
424: TaoVec *r12=qp->r12,*r3=qp->r3,*r5=qp->r5;
426: TaoFunctionBegin;
428: /* Compute R3 and R5 */
430: if (0==1){
432: info = r3->Scale(dtmp);
433: info = r5->Scale(dtmp);
434: qp->pinfeas=dtmp*qp->pinfeas;
436: } else {
438: info = r3->Waxpby(1.0,x,-1.0,xl);CHKERRQ(info);
439: info = r3->Axpy(-1.0,g);CHKERRQ(info);
441: info = r5->Waxpby(1.0,x,-1.0,xu);CHKERRQ(info);
442: info = r5->Axpy(1.0,t);CHKERRQ(info);
444: info = r3->NormInfinity(&gap1);CHKERRQ(info);
445: info = r5->NormInfinity(&gap2);CHKERRQ(info);
447: qp->pinfeas=TaoMax(gap1,gap2);
449: }
451: info = r12->Waxpby(1.0,s,-1.0,z);CHKERRQ(info);
453: info = rhs->CopyFrom(f);CHKERRQ(info);
454: info = rhs->Negate();CHKERRQ(info);
456: info = r12->Axpy(-1.0,rhs);CHKERRQ(info);
458: info = r12->NormInfinity(&qp->dinfeas); CHKERRQ(info);
459: qp->rnorm=(qp->dinfeas+qp->pinfeas)/(qp->m+qp->n);
460: qp->rnorm=TaoMax(qp->dinfeas,qp->pinfeas);
461: // printf("Dual Infeas: %4.2e, Primal Infeas: %4.2e\n",qp->dinfeas,qp->pinfeas);
462:
463: TaoFunctionReturn(0);
464: }
468: static int QPStepLength(TAO_ICP *qp)
469: {
470: double tstep1,tstep2,tstep3,tstep4,tstep;
471: int info;
472: TaoVec *g = qp->g, *z=qp->z, *s=qp->s, *t=qp->t;
473: TaoVec *dg=qp->dg, *dz=qp->dz, *ds=qp->ds, *dt=qp->dt;
475: TaoFunctionBegin;
476: /* Compute stepsize to the boundary */
478: info = g->StepMax(dg,&tstep1); CHKERRQ(info);
479: info = t->StepMax(dt,&tstep2); CHKERRQ(info);
480: info = s->StepMax(ds,&tstep3); CHKERRQ(info);
481: info = z->StepMax(dz,&tstep4); CHKERRQ(info);
483: tstep = TaoMin(tstep1,tstep2);
484: qp->psteplength = TaoMin(0.999*tstep,1.0);
486: tstep = TaoMin(tstep3,tstep4);
487: qp->dsteplength = TaoMin(0.999*tstep,1.0);
489: qp->psteplength = TaoMin(qp->psteplength,qp->dsteplength);
490: qp->dsteplength = qp->psteplength;
491: // printf("StepSize: %4.2e\n",qp->dsteplength);
493: TaoFunctionReturn(0);
494: }
499: int TAOComputeNormFromCentralPath_ICP(TAO_SOLVER tao, double *norm)
500: {
501: TAO_ICP *qp;
502: int info;
503: double gap[2],mu[2], nmu;
504:
505: TaoFunctionBegin;
506: info = TaoGetSolverContext(tao,"tao_icp",(void**)&qp); CHKERRQ(info);
507: TaoVec *g = qp->g, *z=qp->z, *s=qp->s, *t=qp->t;
508: TaoVec *gzwork=qp->gzwork, *tswork=qp->tswork;
510: info = gzwork->PointwiseMultiply(g,z); CHKERRQ(info);
511: info = tswork->PointwiseMultiply(t,s); CHKERRQ(info);
512: info = tswork->Norm1(&mu[0]); CHKERRQ(info);
513: info = gzwork->Norm1(&mu[1]); CHKERRQ(info);
515: nmu=-(mu[0]+mu[1])/qp->m;
516: qp->gap=mu[0]+mu[1];
517: qp->mu=-nmu;
519: info = gzwork->AddConstant(nmu); CHKERRQ(info);
520: info = tswork->AddConstant(nmu); CHKERRQ(info);
522: info = gzwork->NormInfinity(&gap[0]); CHKERRQ(info);
523: info = tswork->NormInfinity(&gap[1]); CHKERRQ(info);
525: qp->pathnorm=TaoMax(gap[0],gap[1]);
526: *norm=qp->pathnorm;
527: // printf("Gap: %4.2e, Mu: %4.2e, Norm: %4.2e\n",qp->gap,-nmu,qp->pathnorm);
529: // printf("Gap: %4.2e, Mu: %4.2e, Norm: %4.2e\n",qp->gap,qp->mu,qp->pathnorm);
530: TaoFunctionReturn(0);
531: }
536: static int TaoSetOptions_ICP(TAO_SOLVER tao, void *solver){
538: TAO_ICP *qp = (TAO_ICP*)solver;
539: int info;
540: TaoTruth flg;
542: TaoFunctionBegin;
543: info = TaoOptionsHead("Interior point method for bound constrained quadratic optimization");CHKERRQ(info);
544: info = TaoOptionInt("-predcorr","Use a predictor-corrector method","",qp->predcorr,&qp->predcorr,&flg);
545: CHKERRQ(info);
546: info = TaoOptionsTail();CHKERRQ(info);
548: /* info = TaoSetLinearSolverOptions(tao);CHKERRQ(info); */
550: TaoFunctionReturn(0);
551: }
556: static int TaoView_ICP(TAO_SOLVER tao,void *solver){
557: TaoFunctionBegin;
558: TaoFunctionReturn(0);
559: }
562: /* --------------------------------------------------------- */
566: int TaoCreate_ICP(TAO_SOLVER tao)
567: {
568: TAO_ICP *qp;
569: int info;
571: TaoFunctionBegin;
573: info = TaoNew(TAO_ICP,&qp); CHKERRQ(info);
574: info = PetscLogObjectMemory(tao,sizeof(TAO_ICP)); CHKERRQ(info);
576: info=TaoSetTaoSolveRoutine(tao,TaoSolve_ICP,(void*)qp); CHKERRQ(info);
577: info=TaoSetTaoSetUpDownRoutines(tao,TaoSetUp_ICP,TaoSetDown_ICP); CHKERRQ(info);
578: info=TaoSetTaoOptionsRoutine(tao,TaoSetOptions_ICP); CHKERRQ(info);
579: info=TaoSetTaoViewRoutine(tao,TaoView_ICP); CHKERRQ(info);
581: info = TaoSetMaximumIterates(tao,100); CHKERRQ(info);
582: info = TaoSetMaximumFunctionEvaluations(tao,500); CHKERRQ(info);
583: info = TaoSetTolerances(tao,1e-10,1e-10,1e-12,0); CHKERRQ(info);
584: /*
585: tao->defaultmonitor = TaoDefaultMonitor_ICP;
586: */
587: /* Initialize pointers and variables */
588: qp->n = 0;
589: qp->m = 0;
590: qp->ksp_tol = 0.1;
591: qp->dobj = 0.0;
592: qp->pobj = 1.0;
593: qp->gap = 10.0;
594: qp->rgap = 1.0;
595: qp->mu = 1.0;
596: qp->sigma = 1.0;
597: qp->dinfeas = 1.0;
598: qp->predcorr = 1;
599: qp->psteplength = 0.0;
600: qp->dsteplength = 0.0;
602: TaoFunctionReturn(0);
603: }