Sketcher: Solver Debug functionality: Ability to export a subsystem
=================================================================== It allows to export the c++ code to create a subsystem with the same information as the one solved using LM/DL/BGFS. In this commit the functionality is disabled (for production). To enable the functionality uncomment this line in planegcs/Constraints.h: //#define _GCS_EXTRACT_SOLVER_SUBSYSTEM_ When enabled, upon solving with LM/DL/BGFS, the c++ code to generate the subsystem is added to a subsystem.txt that is created in the FreeCAD execution directory. Note that the file is created in append mode, so it will append all normal/redundant solvings until the file is deleted. The resulting code can be directly pasted into a project similar to: https://github.com/abdullahtahiriyo/Eigen_LUPiv_Convergence Such a project only has libeigen as external dependency.
This commit is contained in:
Abdullah Tahiri
wmayer
parent
a029d90a98
commit
7c1c56a550
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@ -26,6 +26,14 @@
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#include "Geo.h"
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#include "Util.h"
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//#define _GCS_EXTRACT_SOLVER_SUBSYSTEM_ // This enables debuging code intended to extract information to file bug reports against Eigen, not for production code
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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#define _PROTECTED_UNLESS_EXTRACT_MODE_ public
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#else
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#define _PROTECTED_UNLESS_EXTRACT_MODE_ protected
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#endif
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namespace GCS
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{
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@ -71,7 +79,7 @@ namespace GCS
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class Constraint
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{
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protected:
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_PROTECTED_UNLESS_EXTRACT_MODE_:
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VEC_pD origpvec; // is used only as a reference for redirecting and reverting pvec
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VEC_pD pvec;
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double scale;
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@ -137,6 +145,9 @@ namespace GCS
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inline double* distance() { return pvec[4]; }
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public:
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ConstraintP2PDistance(Point &p1, Point &p2, double *d);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintP2PDistance(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -156,6 +167,9 @@ namespace GCS
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double da;
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public:
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ConstraintP2PAngle(Point &p1, Point &p2, double *a, double da_=0.);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintP2PAngle(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -176,6 +190,9 @@ namespace GCS
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inline double* distance() { return pvec[6]; }
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public:
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ConstraintP2LDistance(Point &p, Line &l, double *d);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintP2LDistance(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -197,6 +214,9 @@ namespace GCS
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public:
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ConstraintPointOnLine(Point &p, Line &l);
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ConstraintPointOnLine(Point &p, Point &lp1, Point &lp2);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintPointOnLine(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -216,6 +236,9 @@ namespace GCS
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public:
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ConstraintPointOnPerpBisector(Point &p, Line &l);
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ConstraintPointOnPerpBisector(Point &p, Point &lp1, Point &lp2);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintPointOnPerpBisector(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -236,6 +259,9 @@ namespace GCS
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inline double* l2p2y() { return pvec[7]; }
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public:
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ConstraintParallel(Line &l1, Line &l2);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintParallel(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -257,6 +283,9 @@ namespace GCS
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public:
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ConstraintPerpendicular(Line &l1, Line &l2);
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ConstraintPerpendicular(Point &l1p1, Point &l1p2, Point &l2p1, Point &l2p2);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintPerpendicular(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -280,6 +309,9 @@ namespace GCS
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ConstraintL2LAngle(Line &l1, Line &l2, double *a);
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ConstraintL2LAngle(Point &l1p1, Point &l1p2,
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Point &l2p1, Point &l2p2, double *a);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintL2LAngle(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -302,6 +334,9 @@ namespace GCS
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public:
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ConstraintMidpointOnLine(Line &l1, Line &l2);
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ConstraintMidpointOnLine(Point &l1p1, Point &l1p2, Point &l2p1, Point &l2p2);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintMidpointOnLine(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -322,6 +357,10 @@ namespace GCS
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public:
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ConstraintTangentCircumf(Point &p1, Point &p2,
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double *rd1, double *rd2, bool internal_=false);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintTangentCircumf(bool internal_){internal=internal_;};
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#endif
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inline bool getInternal() {return internal;};
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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@ -341,6 +380,9 @@ namespace GCS
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public:
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ConstraintPointOnEllipse(Point &p, Ellipse &e);
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ConstraintPointOnEllipse(Point &p, ArcOfEllipse &a);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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inline ConstraintPointOnEllipse(){};
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#endif
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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virtual double error();
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File diff suppressed because it is too large
Load Diff
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@ -96,6 +96,10 @@ namespace GCS
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int solve_BFGS(SubSystem *subsys, bool isFine=true, bool isRedundantsolving=false);
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int solve_LM(SubSystem *subsys, bool isRedundantsolving=false);
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int solve_DL(SubSystem *subsys, bool isRedundantsolving=false);
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#ifdef _GCS_EXTRACT_SOLVER_SUBSYSTEM_
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void extractSubsystem(SubSystem *subsys, bool isRedundantsolving);
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#endif
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public:
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int maxIter;
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int maxIterRedundant;
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@ -200,6 +200,11 @@ void SubSystem::setParams(Eigen::VectorXd &xIn)
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pvals[i] = xIn[i];
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}
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void SubSystem::getConstraintList(std::vector<Constraint *> &clist_)
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{
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clist_= clist;
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}
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double SubSystem::error()
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{
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double err = 0.;
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@ -63,6 +63,8 @@ namespace GCS
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void getParams(Eigen::VectorXd &xOut);
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void setParams(VEC_pD ¶ms, Eigen::VectorXd &xIn);
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void setParams(Eigen::VectorXd &xIn);
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void getConstraintList(std::vector<Constraint *> &clist_);
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double error();
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void calcResidual(Eigen::VectorXd &r);
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