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Commit 918b29a2 authored by Oliver Sander's avatar Oliver Sander Committed by sander@PCPOOL.MI.FU-BERLIN.DE
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- new path to ag-common 

- do not hardwire the 3d material parameters
- add method to create a straight initial rod
- remove Neumann damping
- remove anisotropic damping
- do not hardwire the rod material and shape parameters
- use the C++ IPOpt, if requested
- use absolute corrections size for termination
- better determination of the overall convergence rate

[[Imported from SVN: r2018]]
parent b7debaba
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with 173 additions and 94 deletions
dirneucoupling.cc
+ 173
− 94
View file @ 918b29a2
......@@ -13,17 +13,22 @@
#include <dune/common/bitfield.hh>
#include <dune/common/configparser.hh>
#include "../common/multigridstep.hh"
#include "../common/iterativesolver.hh"
#include "../common/projectedblockgsstep.hh"
#include "../common/linearipopt.hh"
#include "../common/readbitfield.hh"
#include "../common/energynorm.hh"
#include "../common/boundarypatch.hh"
#include "../common/prolongboundarypatch.hh"
#include "../common/sampleonbitfield.hh"
#include "../common/neumannassembler.hh"
#include "../common/computestress.hh"
#include <dune/ag-common/multigridstep.hh>
#include <dune/ag-common/iterativesolver.hh>
#include <dune/ag-common/projectedblockgsstep.hh>
#ifdef HAVE_IPOPT
#include <dune/ag-common/linearipopt.hh>
#endif
#ifdef HAVE_IPOPT_CPP
#include <dune/ag-common/quadraticipopt.hh>
#endif
#include <dune/ag-common/readbitfield.hh>
#include <dune/ag-common/energynorm.hh>
#include <dune/ag-common/boundarypatch.hh>
#include <dune/ag-common/prolongboundarypatch.hh>
#include <dune/ag-common/sampleonbitfield.hh>
#include <dune/ag-common/neumannassembler.hh>
#include <dune/ag-common/computestress.hh>
#include "src/quaternion.hh"
#include "src/rodassembler.hh"
......@@ -36,11 +41,51 @@
// Space dimension
const int dim = 3;
const double E = 2.5e5;
const double nu = 0.3;
using namespace Dune;
using std::string;
using std::vector;
// Some types that I need
//typedef BCRSMatrix<FieldMatrix<double, dim, dim> > OperatorType;
//typedef BlockVector<FieldVector<double, dim> > VectorType;
typedef vector<Configuration> RodSolutionType;
typedef BlockVector<FieldVector<double, 6> > RodDifferenceType;
// Make a straight rod from two given endpoints
void makeStraightRod(RodSolutionType& rod, int n,
const FieldVector<double,3>& beginning, const FieldVector<double,3>& end)
{
// Compute the correct orientation
Quaternion<double> orientation = Quaternion<double>::identity();
FieldVector<double,3> zAxis(0);
zAxis[2] = 1;
FieldVector<double,3> axis = crossProduct(end-beginning, zAxis);
if (axis.two_norm() != 0)
axis /= -axis.two_norm();
FieldVector<double,3> d3 = end-beginning;
d3 /= d3.two_norm();
double angle = std::acos(zAxis * d3);
if (angle != 0)
orientation = Quaternion<double>(axis, angle);
// Set the values
rod.resize(n);
for (int i=0; i<n; i++) {
rod[i].r = beginning;
rod[i].r.axpy(double(i) / (n-1), end-beginning);
rod[i].q = orientation;
}
}
int main (int argc, char *argv[]) try
{
......@@ -72,27 +117,40 @@ int main (int argc, char *argv[]) try
const double mgTolerance = parameterSet.get<double>("mgTolerance");
const double baseTolerance = parameterSet.get<double>("baseTolerance");
const double initialTrustRegionRadius = parameterSet.get<double>("initialTrustRegionRadius");
const double dirichletDamping = parameterSet.get<double>("dirichletDamping");
FieldVector<double,3> neumannDamping;
neumannDamping = parameterSet.get("neumannDamping", double(1));
neumannDamping[0] = parameterSet.get("neumannDampingT", neumannDamping[0]);
neumannDamping[1] = parameterSet.get("neumannDampingT", neumannDamping[1]);
neumannDamping[2] = parameterSet.get("neumannDampingL", neumannDamping[2]);
std::string resultPath = parameterSet.get("resultPath", "");
const double damping = parameterSet.get<double>("damping");
string resultPath = parameterSet.get("resultPath", "");
// Problem settings
std::string path = parameterSet.get<string>("path");
std::string objectName = parameterSet.get<string>("gridFile");
std::string dirichletNodesFile = parameterSet.get<string>("dirichletNodes");
std::string dirichletValuesFile = parameterSet.get<string>("dirichletValues");
std::string interfaceNodesFile = parameterSet.get<string>("interfaceNodes");
const int numRodBaseElements = parameterSet.get<int>("numRodBaseElements");
string path = parameterSet.get<string>("path");
string objectName = parameterSet.get<string>("gridFile");
string dirichletNodesFile = parameterSet.get<string>("dirichletNodes");
string dirichletValuesFile = parameterSet.get<string>("dirichletValues");
string interfaceNodesFile = parameterSet.get<string>("interfaceNodes");
const int numRodBaseElements = parameterSet.get<int>("numRodBaseElements");
double E = parameterSet.get<double>("E");
double nu = parameterSet.get<double>("nu");
// rod material parameters
double rodA = parameterSet.get<double>("rodA");
double rodJ1 = parameterSet.get<double>("rodJ1");
double rodJ2 = parameterSet.get<double>("rodJ2");
double rodE = parameterSet.get<double>("rodE");
double rodNu = parameterSet.get<double>("rodNu");
std::tr1::array<FieldVector<double,3>,2> rodRestEndPoint;
rodRestEndPoint[0][0] = parameterSet.get<double>("rodRestEndPoint0X");
rodRestEndPoint[0][1] = parameterSet.get<double>("rodRestEndPoint0Y");
rodRestEndPoint[0][2] = parameterSet.get<double>("rodRestEndPoint0Z");
rodRestEndPoint[1][0] = parameterSet.get<double>("rodRestEndPoint1X");
rodRestEndPoint[1][1] = parameterSet.get<double>("rodRestEndPoint1Y");
rodRestEndPoint[1][2] = parameterSet.get<double>("rodRestEndPoint1Z");
// ///////////////////////////////////////
// Create the rod grid
// ///////////////////////////////////////
typedef OneDGrid RodGridType;
RodGridType rodGrid(numRodBaseElements, 0, 5);
RodGridType rodGrid(numRodBaseElements, 0, (rodRestEndPoint[1]-rodRestEndPoint[0]).two_norm());
// ///////////////////////////////////////
// Create the grid for the 3d object
......@@ -117,20 +175,22 @@ int main (int argc, char *argv[]) try
// //////////////////////////
// Initial solution
// //////////////////////////
#if 0
for (int i=0; i<rodX.size(); i++) {
rodX[i].r[0] = 0.5;
rodX[i].r[1] = 0.5;
rodX[i].r[2] = 5 + (i* 5.0 /(rodX.size()-1));
rodX[i].q = Quaternion<double>::identity();
}
#endif
makeStraightRod(rodX, rodGrid.size(1), rodRestEndPoint[0], rodRestEndPoint[1]);
// /////////////////////////////////////////
// Read Dirichlet values
// /////////////////////////////////////////
rodX.back().r[0] = parameterSet.get("dirichletValueX", double(0));
rodX.back().r[1] = parameterSet.get("dirichletValueY", double(0));
rodX.back().r[2] = parameterSet.get("dirichletValueZ", double(0));
rodX.back().r[0] = parameterSet.get("dirichletValueX", rodRestEndPoint[1][0]);
rodX.back().r[1] = parameterSet.get("dirichletValueY", rodRestEndPoint[1][1]);
rodX.back().r[2] = parameterSet.get("dirichletValueZ", rodRestEndPoint[1][2]);
FieldVector<double,3> axis;
axis[0] = parameterSet.get("dirichletAxisX", double(0));
......@@ -210,7 +270,8 @@ int main (int argc, char *argv[]) try
// Create a solver for the rod problem
// ///////////////////////////////////////////
RodAssembler<RodGridType> rodAssembler(rodGrid);
rodAssembler.setShapeAndMaterial(1, 1.0/12, 1.0/12, 2.5e5, 0.3);
rodAssembler.setShapeAndMaterial(rodA, rodJ1, rodJ2, rodE, rodNu);
RodSolver<RodGridType> rodSolver;
rodSolver.setup(rodGrid,
......@@ -241,7 +302,12 @@ int main (int argc, char *argv[]) try
// ////////////////////////////////
// First create a gauss-seidel base solver
#ifdef HAVE_IPOPT
LinearIPOptSolver<VectorType> baseSolver;
#endif
#ifdef HAVE_IPOPT_CPP
QuadraticIPOptSolver<MatrixType,VectorType> baseSolver;
#endif
baseSolver.verbosity_ = NumProc::QUIET;
baseSolver.tolerance_ = baseTolerance;
......@@ -255,14 +321,15 @@ int main (int argc, char *argv[]) try
multigridStep.basesolver_ = &baseSolver;
multigridStep.presmoother_ = &presmoother;
multigridStep.postsmoother_ = &postsmoother;
multigridStep.verbosity_ = Solver::REDUCED;
multigridStep.verbosity_ = Solver::QUIET;
EnergyNorm<MatrixType, VectorType> energyNorm(multigridStep);
IterativeSolver<MatrixType, VectorType> solver(&multigridStep,
multigridIterations,
// IPOpt doesn't like to be started in the solution
(numLevels!=1) ? multigridIterations : 1,
mgTolerance,
&energyNorm,
Solver::QUIET);
......@@ -301,7 +368,8 @@ int main (int argc, char *argv[]) try
std::cout << "----------------------------------------------------" << std::endl;
// Backup of the current solution for the error computation later on
VectorType oldSolution3d = x3d;
VectorType oldSolution3d = x3d;
RodSolutionType oldSolutionRod = rodX;
// //////////////////////////////////////////////////
// Dirichlet step for the rod
......@@ -313,8 +381,8 @@ int main (int argc, char *argv[]) try
rodX = rodSolver.getSol();
for (int j=0; j<rodX.size(); j++)
std::cout << rodX[j] << std::endl;
// for (int j=0; j<rodX.size(); j++)
// std::cout << rodX[j] << std::endl;
// ///////////////////////////////////////////////////////////
// Extract Neumann values and transfer it to the 3d object
......@@ -331,41 +399,6 @@ int main (int argc, char *argv[]) try
std::cout << "resultant force: " << resultantForce << std::endl;
std::cout << "resultant torque: " << resultantTorque << std::endl;
#if 0
for (int j=0; j<dim; j++) {
lambdaForce[j] = (1-neumannDamping[j]) * lambdaForce[j] + neumannDamping[j] * resultantForce[j];
lambdaTorque[j] = (1-neumannDamping[j]) * lambdaTorque[j] + neumannDamping[j] * resultantTorque[j];
}
#else
// damp in local coordinate system
FieldVector<double,dim> lambdaForceLocal, lambdaTorqueLocal;
FieldVector<double,dim> resultantForceLocal, resultantTorqueLocal;
for (int j=0; j<dim; j++) {
lambdaForceLocal[j] = lambdaForce * rodX[0].q.director(j);
lambdaTorqueLocal[j] = lambdaTorque * rodX[0].q.director(j);
resultantForceLocal[j] = resultantForce * rodX[0].q.director(j);
resultantTorqueLocal[j] = resultantTorque * rodX[0].q.director(j);
// Anisotropic damping
lambdaForceLocal[j] = (1-neumannDamping[j]) * lambdaForceLocal[j] + neumannDamping[j] * resultantForceLocal[j];
lambdaTorqueLocal[j] = (1-neumannDamping[j]) * lambdaTorqueLocal[j] + neumannDamping[j] * resultantTorqueLocal[j];
}
// Back to canonical coordinates
FieldMatrix<double,3,3> orientationMatrix;
rodX[0].q.matrix(orientationMatrix);
lambdaForce = 0;
lambdaTorque = 0;
orientationMatrix.umv(lambdaForceLocal, lambdaForce);
orientationMatrix.umv(lambdaTorqueLocal, lambdaTorque);
#endif
// For the time being the Neumann data coming from the rod is a dg function (== not continuous)
// Maybe that is not necessary
DGIndexSet<GridType> dgIndexSet(grid,grid.maxLevel());
......@@ -374,7 +407,7 @@ int main (int argc, char *argv[]) try
VectorType neumannValues(dgIndexSet.size());
// Using that index 0 is always the left boundary for a uniformly refined OneDGrid
computeAveragePressure<GridType>(lambdaForce, lambdaTorque,
computeAveragePressure<GridType>(resultantForce, resultantTorque,
interfaceBoundary[grid.maxLevel()],
rodX[0],
neumannValues);
......@@ -417,12 +450,12 @@ int main (int argc, char *argv[]) try
// Compute new damped interface value
// ///////////////////////////////////////////////////////////
for (int j=0; j<dim; j++)
lambda.r[j] = (1-dirichletDamping) * lambda.r[j]
+ dirichletDamping * (referenceInterface.r[j] + averageInterface.r[j]);
lambda.r[j] = (1-damping) * lambda.r[j]
+ damping * (referenceInterface.r[j] + averageInterface.r[j]);
lambda.q = Quaternion<double>::interpolate(lambda.q,
referenceInterface.q.mult(averageInterface.q),
dirichletDamping);
damping);
std::cout << "Lambda: " << lambda << std::endl;
......@@ -473,8 +506,27 @@ int main (int argc, char *argv[]) try
oldSolution3d -= x3d;
double normOfCorrection = EnergyNorm<MatrixType,VectorType>::normSquared(oldSolution3d, *hessian3d);
// the rod \todo missing
#warning Energy error of the rod still missing
double max3dRelCorrection = 0;
for (size_t j=0; j<x3d.size(); j++)
for (int k=0; k<dim; k++)
max3dRelCorrection = std::max(max3dRelCorrection,
std::fabs(oldSolution3d[j][k])/ std::fabs(x3d[j][k]));
RodDifferenceType rodDiff = computeRodDifference(oldSolutionRod, rodX);
double maxRodRelCorrection = 0;
for (size_t j=0; j<rodX.size(); j++)
for (int k=0; k<dim; k++)
maxRodRelCorrection = std::max(maxRodRelCorrection,
std::fabs(rodDiff[j][k])/ std::fabs(rodX[j].r[k]));
double maxRodCorrection = computeRodDifference(oldSolutionRod, rodX).infinity_norm();
double max3dCorrection = oldSolution3d.infinity_norm();
std::cout << "rod correction: " << maxRodCorrection
<< " rod rel correction: " << maxRodRelCorrection
<< " 3d correction: " << max3dCorrection
<< " 3d rel correction: " << max3dRelCorrection << std::endl;
oldNorm = std::sqrt(oldNorm);
......@@ -490,7 +542,8 @@ int main (int argc, char *argv[]) try
std::cout << "DD iteration: " << i << " -- ||u^{n+1} - u^n|| / ||u^n||: " << relativeError << ", "
<< "convrate " << convRate << "\n";
if (relativeError < ddTolerance)
//if (relativeError < ddTolerance)
if (std::max(max3dRelCorrection,maxRodRelCorrection) < ddTolerance)
break;
}
......@@ -512,7 +565,7 @@ int main (int argc, char *argv[]) try
MatrixIndexSet indices(exactSolRod.size(), exactSolRod.size());
rodAssembler.getNeighborsPerVertex(indices);
indices.exportIdx(hessianRod);
rodAssembler.assembleMatrix(exactSolRod, hessianRod);
rodAssembler.assembleMatrixFD(exactSolRod, hessianRod);
double error = std::numeric_limits<double>::max();
......@@ -539,6 +592,13 @@ int main (int argc, char *argv[]) try
totalConvRate[0] = 1;
double oldConvRate = 100;
bool firstTime = true;
std::stringstream levelAsAscii, dampingAsAscii;
levelAsAscii << numLevels;
dampingAsAscii << damping;
std::string filename = resultPath + "convrate_" + levelAsAscii.str() + "_" + dampingAsAscii.str();
int i;
for (i=0; i<maxDirichletNeumannSteps; i++) {
......@@ -595,25 +655,44 @@ int main (int argc, char *argv[]) try
<< "convrate " << convRate
<< " total conv rate " << std::pow(totalConvRate[i+1], 1/((double)i+1)) << std::endl;
// Convergence rates tend to stay fairly constant after a few initial iterates.
// Only when we hit numerical dirt are they starting to wiggle around wildly.
// We use this to detect 'the' convergence rate as the last averaged rate before
// we hit the dirt.
if (convRate > oldConvRate + 0.1 && i > 5 && firstTime) {
std::cout << "Damping: " << damping
<< " convRate: " << std::pow(totalConvRate[i], 1/((double)i))
<< std::endl;
std::ofstream convRateFile(filename.c_str());
convRateFile << damping << " "
<< std::pow(totalConvRate[i], 1/((double)i))
<< std::endl;
firstTime = false;
}
if (error < 1e-12)
break;
oldError = error;
oldConvRate = convRate;
}
int backTrace = std::min(size_t(4),totalConvRate.size());
std::cout << "Dirichlet damping: " << dirichletDamping
<< "Neumann damping: " << neumannDamping
<< " convRate: " << std::pow(totalConvRate[i+1-backTrace], 1/((double)i+1-backTrace))
<< std::endl;
std::ofstream convRateFile("convrate");
convRateFile << dirichletDamping << " "
<< neumannDamping << " "
<< std::pow(totalConvRate[i+1-backTrace], 1/((double)i+1-backTrace))
<< std::endl;
// Convergence without dirt: write the overall convergence rate now
if (firstTime) {
int backTrace = std::min(size_t(4),totalConvRate.size());
std::cout << "Damping: " << damping
<< " convRate: " << std::pow(totalConvRate[i+1-backTrace], 1/((double)i+1-backTrace))
<< std::endl;
std::ofstream convRateFile(filename.c_str());
convRateFile << damping << " "
<< std::pow(totalConvRate[i+1-backTrace], 1/((double)i+1-backTrace))
<< std::endl;
}
// //////////////////////////////
// Output result
......
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