Sketch: Solver: Extended Advanced Solver configuration

======================================================== This is an advanced setting just for allowing increased choices to power users that have problems with a given sketch and want to test different flavours of DogLeg algorithm. This commit does not change the default behaviour of FreeCAD. It is only intended to give more options to power users. The advanced solver configuration is extended to support three different Gauss-newton steps for DogLeg: FullPivLU => h_gn = Jx.fullPivLu().solve(-fx); LeastNormFullPivLU => h_gn = Jx.adjoint()*(Jx*Jx.adjoint()).fullPivLu().solve(-fx); LeastNormLdlt => h_gn = Jx.adjoint()*(Jx*Jx.adjoint()).ldlt().solve(-fx); This setting is applied only to DogLeg. It is applied to DogLeg as normal or redundant solver, if DogLeg is the selected solver. Selecting a solver different from DogLeg for both normal and redundant disables the setting. We have been told: https://forum.kde.org/viewtopic.php?f=74&t=129439#p346104 that our default Gauss-Newton step in DogLeg may not be adequate in general (we generally deal with underconstraint systems unless we have a fully constraint sketch, and even then it is many times overconstraint at least for redundant solving). We have been told that maybe these LeastNorm options are more suitable for us (performance set aside). This enables you as power user to test if it works fine with FreeCAD.
2015-11-26 15:19:03 +01:00 · 2015-11-26 15:19:03 +01:00 · 19c840e1ab
commit 19c840e1ab
parent aa6908b144
6 changed files with 100 additions and 5 deletions
--- a/src/Mod/Sketcher/App/Sketch.h
+++ b/src/Mod/Sketcher/App/Sketch.h
@ -377,6 +377,7 @@ protected:
 public:
    GCS::Algorithm defaultSolver;
    GCS::Algorithm defaultSolverRedundant;
+    inline void setDogLegGaussStep(GCS::DogLegGaussStep mode){GCSsys.dogLegGaussStep=mode;}
    inline void setDebugMode(GCS::DebugMode mode) {debugMode=mode;GCSsys.debugMode=mode;}
    inline GCS::DebugMode getDebugMode(void) {return debugMode;}
    inline void setMaxIter(int maxiter){GCSsys.maxIter=maxiter;}
--- a/src/Mod/Sketcher/App/planegcs/GCS.cpp
+++ b/src/Mod/Sketcher/App/planegcs/GCS.cpp
@ -198,6 +198,7 @@ System::System()
  , convergence(1e-10)
  , convergenceRedundant(1e-10)
  , qrAlgorithm(EigenSparseQR)
+  , dogLegGaussStep(FullPivLU)
  , qrpivotThreshold(1E-13)
  , debugMode(Minimal)
  , LM_eps(1E-10)
@ -1453,6 +1454,7 @@ int System::solve_DL(SubSystem* subsys, bool isRedundantsolving)
                << ", tolx: "           << tolx
                << ", tolf: "           << tolf
                << ", convergence: "    << (isRedundantsolving?convergenceRedundant:convergence)
+                << ", dogLegGaussStep: " << (dogLegGaussStep==FullPivLU?"FullPivLU":(dogLegGaussStep==LeastNormFullPivLU?"LeastNormFullPivLU":"LeastNormLdlt"))
                << ", xsize: "          << xsize
                << ", csize: "          << csize
                << ", maxIter: "        << maxIterNumber  << "\n";
@ -1505,7 +1507,20 @@ int System::solve_DL(SubSystem* subsys, bool isRedundantsolving)
            h_sd  = alpha*g;

            // get the gauss-newton step
-            h_gn = Jx.fullPivLu().solve(-fx);
+            // http://forum.freecadweb.org/viewtopic.php?f=10&t=12769&start=50#p106220
+            // https://forum.kde.org/viewtopic.php?f=74&t=129439#p346104
+            switch (dogLegGaussStep){
+                case FullPivLU:
+                    h_gn = Jx.fullPivLu().solve(-fx);
+                    break;
+                case LeastNormFullPivLU:
+                    h_gn = Jx.adjoint()*(Jx*Jx.adjoint()).fullPivLu().solve(-fx);
+                    break;
+                case LeastNormLdlt:
+                    h_gn = Jx.adjoint()*(Jx*Jx.adjoint()).ldlt().solve(-fx);
+                    break;
+            }
+            
            double rel_error = (Jx*h_gn + fx).norm() / fx.norm();
            if (rel_error > 1e15)
                break;
--- a/src/Mod/Sketcher/App/planegcs/GCS.h
+++ b/src/Mod/Sketcher/App/planegcs/GCS.h
@ -51,6 +51,12 @@ namespace GCS
        DogLeg = 2
    };
    
+    enum DogLegGaussStep {
+        FullPivLU = 0,
+        LeastNormFullPivLU = 1,
+        LeastNormLdlt = 2
+    };
+    
    enum QRAlgorithm {
        EigenDenseQR = 0,
        EigenSparseQR = 1
@ -108,6 +114,7 @@ namespace GCS
        double convergence;
        double convergenceRedundant;
        QRAlgorithm qrAlgorithm;
+        DogLegGaussStep dogLegGaussStep;
        double qrpivotThreshold;
        DebugMode debugMode;
        double LM_eps;
--- a/src/Mod/Sketcher/Gui/TaskSketcherSolverAdvanced.cpp
+++ b/src/Mod/Sketcher/Gui/TaskSketcherSolverAdvanced.cpp
@ -58,6 +58,7 @@
 #define QR_PIVOT_THRESHOLD 1E-13    // under this value a Jacobian value is regarded as zero
 #define DEFAULT_SOLVER_DEBUG 1      // None=0, Minimal=1, IterationLevel=2
 #define MAX_ITER_MULTIPLIER false
+#define DEFAULT_DOGLEG_GAUSS_STEP 0   // FullPivLU = 0, LeastNormFullPivLU = 1, LeastNormLdlt = 2

 using namespace SketcherGui;
 using namespace Gui::TaskView;
@ -75,6 +76,7 @@ TaskSketcherSolverAdvanced::TaskSketcherSolverAdvanced(ViewProviderSketch *sketc
    this->groupLayout()->addWidget(proxy);

    ui->comboBoxDefaultSolver->onRestore();
+    ui->comboBoxDogLegGaussStep->onRestore();
    ui->spinBoxMaxIter->onRestore();
    ui->checkBoxSketchSizeMultiplier->onRestore();
    ui->lineEditConvergence->onRestore();
@ -98,7 +100,15 @@ void TaskSketcherSolverAdvanced::updateDefaultMethodParameters(void)
 {
    ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath("User parameter:BaseApp/Preferences/Mod/Sketcher/SolverAdvanced");

-    switch(ui->comboBoxDefaultSolver->currentIndex())
+    int currentindex = ui->comboBoxDefaultSolver->currentIndex();
+    int redundantcurrentindex = ui->comboBoxRedundantDefaultSolver->currentIndex();
+    
+    if(redundantcurrentindex == 2 || currentindex == 2)
+        ui->comboBoxDogLegGaussStep->setEnabled(true);
+    else
+        ui->comboBoxDogLegGaussStep->setEnabled(false); 
+    
+    switch(currentindex)
    {
        case 0: // BFGS
            ui->labelSolverParam1->setText(QString::fromLatin1(""));
@ -156,7 +166,15 @@ void TaskSketcherSolverAdvanced::updateRedundantMethodParameters(void)
 {
    ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath("User parameter:BaseApp/Preferences/Mod/Sketcher/SolverAdvanced");

-    switch(ui->comboBoxRedundantDefaultSolver->currentIndex())
+    int currentindex = ui->comboBoxDefaultSolver->currentIndex();
+    int redundantcurrentindex = ui->comboBoxRedundantDefaultSolver->currentIndex();
+    
+    if(redundantcurrentindex == 2 || currentindex == 2)
+        ui->comboBoxDogLegGaussStep->setEnabled(true);
+    else
+        ui->comboBoxDogLegGaussStep->setEnabled(false); 
+    
+    switch(redundantcurrentindex)
    {
        case 0: // BFGS
            ui->labelRedundantSolverParam1->setText(QString::fromLatin1(""));
@ -385,6 +403,13 @@ void TaskSketcherSolverAdvanced::on_comboBoxDefaultSolver_currentIndexChanged(in
    updateDefaultMethodParameters();
 }

+void TaskSketcherSolverAdvanced::on_comboBoxDogLegGaussStep_currentIndexChanged(int index)
+{
+    ui->comboBoxDogLegGaussStep->onSave();
+    sketchView->getSketchObject()->getSolvedSketch().setDogLegGaussStep((GCS::DogLegGaussStep) index);
+    updateDefaultMethodParameters();
+}
+
 void TaskSketcherSolverAdvanced::on_spinBoxMaxIter_valueChanged(int i)
 {
    ui->spinBoxMaxIter->onSave();
@ -505,6 +530,8 @@ void TaskSketcherSolverAdvanced::on_pushButtonDefaults_clicked(bool checked/* =
    hGrp->SetASCII("Redundant_DL_tolf",QString::number(DL_TOLF).toUtf8()); 
    // Set other settings
    hGrp->SetInt("DefaultSolver",DEFAULT_SOLVER);
+    hGrp->SetInt("DogLegGaussStep",DEFAULT_DOGLEG_GAUSS_STEP);
+    
    hGrp->SetInt("RedundantDefaultSolver",DEFAULT_RSOLVER);
    hGrp->SetInt("MaxIter",MAX_ITER);
    hGrp->SetInt("RedundantSolverMaxIterations",MAX_ITER);
@ -517,6 +544,7 @@ void TaskSketcherSolverAdvanced::on_pushButtonDefaults_clicked(bool checked/* =
    hGrp->SetInt("DebugMode",DEFAULT_SOLVER_DEBUG);

    ui->comboBoxDefaultSolver->onRestore();
+    ui->comboBoxDogLegGaussStep->onRestore();
    ui->spinBoxMaxIter->onRestore();
    ui->checkBoxSketchSizeMultiplier->onRestore();
    ui->lineEditConvergence->onRestore();
@ -543,7 +571,8 @@ void TaskSketcherSolverAdvanced::updateSketchObject(void)
    sketchView->getSketchObject()->getSolvedSketch().setConvergence(ui->lineEditConvergence->text().toDouble());
    sketchView->getSketchObject()->getSolvedSketch().setSketchSizeMultiplier(ui->checkBoxSketchSizeMultiplier->isChecked());
    sketchView->getSketchObject()->getSolvedSketch().setMaxIter(ui->spinBoxMaxIter->value());
-    sketchView->getSketchObject()->getSolvedSketch().defaultSolver=(GCS::Algorithm) ui->comboBoxDefaultSolver->currentIndex();   
+    sketchView->getSketchObject()->getSolvedSketch().defaultSolver=(GCS::Algorithm) ui->comboBoxDefaultSolver->currentIndex();
+    sketchView->getSketchObject()->getSolvedSketch().setDogLegGaussStep((GCS::DogLegGaussStep) ui->comboBoxDogLegGaussStep->currentIndex());

    updateDefaultMethodParameters();
    updateRedundantMethodParameters();
--- a/src/Mod/Sketcher/Gui/TaskSketcherSolverAdvanced.h
+++ b/src/Mod/Sketcher/Gui/TaskSketcherSolverAdvanced.h
@ -47,7 +47,8 @@ public:
    ~TaskSketcherSolverAdvanced();

 private Q_SLOTS:
-    void on_comboBoxDefaultSolver_currentIndexChanged(int index);  
+    void on_comboBoxDefaultSolver_currentIndexChanged(int index); 
+    void on_comboBoxDogLegGaussStep_currentIndexChanged(int index);    
    void on_spinBoxMaxIter_valueChanged(int i);
    void on_checkBoxSketchSizeMultiplier_stateChanged(int state);    
    void on_lineEditConvergence_editingFinished();
--- a/src/Mod/Sketcher/Gui/TaskSketcherSolverAdvanced.ui
+++ b/src/Mod/Sketcher/Gui/TaskSketcherSolverAdvanced.ui
@ -56,6 +56,48 @@
     </item>
    </layout>
   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_4_2">
+     <item>
+      <widget class="QLabel" name="labelDogLegGaussStep">
+       <property name="toolTip">
+        <string>Type of function to apply in DogLeg for the Gauss step</string>
+       </property>
+       <property name="text">
+        <string>DogLeg Gauss step:</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="Gui::PrefComboBox" name="comboBoxDogLegGaussStep">
+       <property name="currentIndex">
+        <number>0</number>
+       </property>
+       <property name="prefEntry" stdset="0">
+        <cstring>DogLegGaussStep</cstring>
+       </property>
+       <property name="prefPath" stdset="0">
+        <cstring>Mod/Sketcher/SolverAdvanced</cstring>
+       </property>
+       <item>
+        <property name="text">
+         <string>FullPivLU</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>LeastNorm-FullPivLU</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>LeastNorm-LDLT</string>
+        </property>
+       </item>
+      </widget>
+     </item>
+    </layout>
+   </item>
   <item>
    <layout class="QHBoxLayout" name="horizontalLayout_2">
     <item>