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Diffstat (limited to 'intern/iksolver/intern/IK_ConjugateGradientSolver.h')
-rw-r--r-- | intern/iksolver/intern/IK_ConjugateGradientSolver.h | 195 |
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diff --git a/intern/iksolver/intern/IK_ConjugateGradientSolver.h b/intern/iksolver/intern/IK_ConjugateGradientSolver.h new file mode 100644 index 00000000000..e50799a9fa1 --- /dev/null +++ b/intern/iksolver/intern/IK_ConjugateGradientSolver.h @@ -0,0 +1,195 @@ +/** + * $Id$ + * ***** BEGIN GPL/BL DUAL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. The Blender + * Foundation also sells licenses for use in proprietary software under + * the Blender License. See http://www.blender.org/BL/ for information + * about this. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. + * All rights reserved. + * + * The Original Code is: all of this file. + * + * Contributor(s): none yet. + * + * ***** END GPL/BL DUAL LICENSE BLOCK ***** + */ + +#ifndef NAN_INCLUDED_IK_ConjugateGradientSolver_h + +#define NAN_INCLUDED_IK_ConjugateGradientSolver_h + +/** + * @author Laurence Bourn + * @date 28/6/2001 + */ + +#include "TNT/cmat.h" +#include "MT_Scalar.h" +#include "IK_LineMinimizer.h" + +/** + * These classes locally minimize n dimensional potenial functions. + * See Numerical Recipes in C www.nr.com for more details. + * If a n dimensionable potenial function is + * differentiable, then it is diferentiable along + * any vector x. This can be found by the dot product + * of the gradient operator with x. + * The conjugate gradient solver boils down to + * a collection of line minimizations along various lines + * defined by position,direction pairs. There are + * methods in this class to set the lines along which + * minimizations via the DiffentiablePotenialFunction1d interface + * are to be performed. + * + * @warning I don't like data inheritance but it is the most efficient + * wasy to do this here. + */ + + +class DifferentiablePotenialFunctionNd +: public DifferentiablePotenialFunction1d +{ +public : + + /** + * Inherited from DiffentiablePotenialFunction1d + * + * virtual + * MT_Scalar + * Evaluate1d( + * MT_Scalar x + * ) = 0; + * + * virtual + * MT_Scalar + * Derivative1d( + * MT_Scalar x + * ) = 0; + */ + + /// Methods to set the current line in N dimensions + + void + SetLineVector( + const TNT::Vector<MT_Scalar> &pos, + const TNT::Vector<MT_Scalar> &dir + ){ + m_line_pos = pos; + m_line_dir = dir; + }; + + virtual + MT_Scalar + Evaluate( + const TNT::Vector<MT_Scalar> &x + ) = 0; + + virtual + void + Derivative( + const TNT::Vector<MT_Scalar> &x, + TNT::Vector<MT_Scalar> &dy + ) = 0; + + /// @return The dimension of the domain of the potenial function + + virtual + int + Dimension( + ) const =0; + + virtual + ~DifferentiablePotenialFunctionNd( + ){ + }; + +protected : + + DifferentiablePotenialFunctionNd(){}; + + TNT::Vector<MT_Scalar> m_line_pos; + TNT::Vector<MT_Scalar> m_line_dir; + +}; + + +class IK_ConjugateGradientSolver +: public MEM_NonCopyable +{ +public : + + /** + * This class necessarily needs some (potenially large) + * temporary vectors to aid computation. We therefore + * insist creation of these objects on the heap. + */ + + static + IK_ConjugateGradientSolver * + New( + ); + + /** + * Compute the minimum of the potenial function + * starting at point p. On return p contains the + * computed minima, iter the number of iterations performed, + * fret the potenial value at the minima + */ + + void + Solve( + TNT::Vector<MT_Scalar> &p, + MT_Scalar ftol, + int &iter, + MT_Scalar &fret, + DifferentiablePotenialFunctionNd &potenial, + int max_its = 200 + ); + + ~IK_ConjugateGradientSolver( + ); + +private : + void + LineMinimize( + TNT::Vector<MT_Scalar> & p, + const TNT::Vector<MT_Scalar> & xi, + MT_Scalar &fret, + DifferentiablePotenialFunctionNd &potenial + ); + + IK_ConjugateGradientSolver( + ); + + void + ArmVectors( + int dimension + ); + + + TNT::Vector<MT_Scalar> m_g; + TNT::Vector<MT_Scalar> m_h; + TNT::Vector<MT_Scalar> m_xi; + + TNT::Vector<MT_Scalar> m_xi_temp; + +}; + +#endif + + |