diff --git a/Examples/DeformableBody/DeformableBodyExample.cpp b/Examples/DeformableBody/DeformableBodyExample.cpp
index d1059c517abf2eeaf428fefd4dc865ee75a42e84..4d3de72b0f28f2ed826846db954ecc3061947bba 100644
--- a/Examples/DeformableBody/DeformableBodyExample.cpp
+++ b/Examples/DeformableBody/DeformableBodyExample.cpp
@@ -23,7 +23,7 @@
#include "imstkSimulationManager.h"
#include "imstkDeformableObject.h"
#include "imstkBackwardEuler.h"
-#include "imstkNonlinearSystem.h"
+#include "imstkNonLinearSystem.h"
#include "imstkNewtonSolver.h"
#include "imstkGaussSeidel.h"
#include "imstkPlane.h"
diff --git a/Examples/NonlinearSolver/CMakeLists.txt b/Examples/NonlinearSolver/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a66dd3fc570afa0725ae5830d17ba193ce86e329
--- /dev/null
+++ b/Examples/NonlinearSolver/CMakeLists.txt
@@ -0,0 +1,35 @@
+###########################################################################
+#
+# Copyright (c) Kitware, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0.txt
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+###########################################################################
+
+project(Example-NonlinearSolver)
+
+#-----------------------------------------------------------------------------
+# Create executable
+#-----------------------------------------------------------------------------
+imstk_add_executable(${PROJECT_NAME} nonlinearSolver.cpp)
+
+#-----------------------------------------------------------------------------
+# Add the target to Examples folder
+#-----------------------------------------------------------------------------
+SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
+
+#-----------------------------------------------------------------------------
+# Link libraries to executable
+#-----------------------------------------------------------------------------
+target_link_libraries(${PROJECT_NAME} Solvers Common)
+
diff --git a/Examples/NonlinearSolver/nonlinearSolver.cpp b/Examples/NonlinearSolver/nonlinearSolver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1725f74c8351bfb07f27fed3fbb7c273434782d9
--- /dev/null
+++ b/Examples/NonlinearSolver/nonlinearSolver.cpp
@@ -0,0 +1,91 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+=========================================================================*/
+
+#include <ios>
+#include <iostream>
+#include <vector>
+#include <iomanip>
+
+#include "imstkMath.h"
+#include "imstkNewtonSolver.h"
+#include "imstkDirectLinearSolver.h"
+#include "imstkNonLinearSolver.h"
+
+using namespace imstk;
+
+int
+main(int argc, char** argv)
+{
+ const int N = 2;
+ auto x = Vectord(N);
+ auto xe = Vectord(N);
+ auto y = Vectord(N);
+ auto A = Matrixd(N, N);
+
+ x[0] = 100.0;
+ x[1] = 100.0;
+ xe[0] = 1.0;
+ xe[1] = 10.0;
+
+ auto func = [&y](const Vectord& x, const bool isSemiImplicit) -> const Vectord& {
+ // auto y = Vectord(x.size());
+ y[0] = x[0] * x[0] - 1.0;
+ y[1] = x[1] * x[1] - 100.0;
+
+ return y;
+ };
+
+ auto jac = [&A](const Vectord& x) -> const Matrixd& {
+ // auto A = Matrixd(x.size(), x.size());
+ A(0, 0) = 2 * x[0];
+ A(0, 1) = 0.0;
+ A(1, 0) = 0.0;
+ A(1, 1) = 2 * x[1];
+
+ return A;
+ };
+
+ auto updateX = [&x](const Vectord& du, const bool isSemiImplicit)
+ {
+ x -= du;
+ return;
+ };
+
+ auto updateXold = [](void) {};
+
+ auto nlSystem = std::make_shared<NonLinearSystem<Matrixd>>(func, jac);
+ nlSystem->setUnknownVector(x);
+ nlSystem->setUpdateFunction(updateX);
+ nlSystem->setUpdatePreviousStatesFunction(updateXold);
+
+ auto linSolver = std::make_shared<DirectLinearSolver<Matrixd>>();
+ auto nlSolver = std::make_shared<NewtonSolver<Matrixd>>();
+ nlSolver->setMaxIterations(100);
+ nlSolver->setRelativeTolerance(1e-8);
+ nlSolver->setAbsoluteTolerance(1e-10);
+ nlSolver->setSystem(nlSystem);
+ nlSolver->setLinearSolver(linSolver);
+
+ std::cout << "init_error = " << std::setprecision(12) << std::scientific << (x-xe).norm() << std::endl;
+ nlSolver->solve();
+
+ std::cout << "final_error = " << std::setprecision(12) << std::scientific << (x-xe).norm() << std::endl;
+}
diff --git a/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.h b/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.h
index ec59caf229d171d1dd34abb6b78c92e942e69090..9641e0cba7dfb8409c037f238f0619cd75070c82 100644
--- a/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.h
+++ b/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.h
@@ -24,7 +24,7 @@
// imstk
#include "imstkDynamicalModel.h"
#include "imstkInternalForceModelTypes.h"
-#include "imstkNonlinearSystem.h"
+#include "imstkNonLinearSystem.h"
// vega
#include "sparseMatrix.h"
diff --git a/Source/Solvers/imstkDirectLinearSolver.cpp b/Source/Solvers/imstkDirectLinearSolver.cpp
index b319082a5956ede2912d8458ade6425ab5f6613b..77b4018ee1db170783bed698d08968edaaf57dce 100644
--- a/Source/Solvers/imstkDirectLinearSolver.cpp
+++ b/Source/Solvers/imstkDirectLinearSolver.cpp
@@ -83,7 +83,7 @@ DirectLinearSolver<Matrixd>::solve(const Vectord& rhs, Vectord& x)
void
DirectLinearSolver<Matrixd>::solve(Vectord& x)
{
- if(!m_system_set) LOG(FATAL) << "Linear system has not been set";
+ if(!m_linearSystem) LOG(FATAL) << "Linear system has not been set";
x.setZero();
auto b = m_linearSystem->getRHSVector();
diff --git a/Source/Solvers/imstkDirectLinearSolver.h b/Source/Solvers/imstkDirectLinearSolver.h
index 9f1a77c5be5f79627163818df61247229abeed84..e586d811f03ec1e8fb0b21dd0cdc961d23616017 100644
--- a/Source/Solvers/imstkDirectLinearSolver.h
+++ b/Source/Solvers/imstkDirectLinearSolver.h
@@ -85,7 +85,6 @@ public:
private:
Eigen::LDLT<Matrixd> m_solver;
- bool m_system_set;
};
///
@@ -124,6 +123,5 @@ public:
private:
Eigen::SparseLU<SparseMatrixd, Eigen::COLAMDOrdering<MatrixType::StorageIndex>> m_solver;//?
- bool m_system_set;
};
} // imstk
diff --git a/Source/Solvers/imstkLinearSystem.h b/Source/Solvers/imstkLinearSystem.h
index 22e1638ef1155b9325702211292d56ddda084c95..5c0814258a80dd0e654bbfcdaf44e4e519d12b3b 100644
--- a/Source/Solvers/imstkLinearSystem.h
+++ b/Source/Solvers/imstkLinearSystem.h
@@ -21,7 +21,7 @@
#pragma once
-#include "imstkNonlinearSystem.h"
+#include "imstkNonLinearSystem.h"
namespace imstk
{
diff --git a/Source/Solvers/imstkNewtonSolver.cpp b/Source/Solvers/imstkNewtonSolver.cpp
index c0097d7e0f3a15f459286c6b46cad06d21600cea..7632722119b1635cff0efc2ee94d6dd36e8faf57 100644
--- a/Source/Solvers/imstkNewtonSolver.cpp
+++ b/Source/Solvers/imstkNewtonSolver.cpp
@@ -114,11 +114,11 @@ NewtonSolver<SystemMatrix>::solve()
size_t iterNum;
const auto& u = this->m_nonLinearSystem->getUnknownVector();
Vectord du = u; // make this a class member in future
+ double error0 = MAX_D;
double epsilon = m_relativeTolerance * m_relativeTolerance;
for (iterNum = 0; iterNum < m_maxIterations; ++iterNum)
{
- double error0 = MAX_D;
double error = updateJacobian(u);
if (iterNum == 0)
@@ -128,13 +128,14 @@ NewtonSolver<SystemMatrix>::solve()
if (error / error0 < epsilon && iterNum > 0)
{
- //std::cout << "Num. of Newton Iterations: " << i << "\tError ratio: " << error/error0 << std::endl;
+ // std::cout << "Num. of Newton Iterations: " << iterNum << "\tError ratio: " << error/error0 << ", " << error << " " << error0 << std::endl;
break;
}
m_linearSolver->solve(du);
this->m_nonLinearSystem->m_FUpdate(du, this->m_isSemiImplicit);
}
+
this->m_nonLinearSystem->m_FUpdatePrevState();
if (iterNum == m_maxIterations && !this->m_isSemiImplicit)
@@ -167,7 +168,7 @@ NewtonSolver<SystemMatrix>::updateJacobian(const Vectord& x)
//linearSystem->setLinearProjectors(this->m_nonLinearSystem->getLinearProjectors()); /// \todo Left for near future reference. Clear in future.
m_linearSolver->setSystem(linearSystem);
- return b.dot(b);
+ return std::sqrt(b.dot(b));
}
template <typename SystemMatrix>
diff --git a/Source/Solvers/imstkNonLinearSolver.h b/Source/Solvers/imstkNonLinearSolver.h
index adff8d9de9bdbfbab67ae81a5adf908fe165a6f8..3902fb310a54ca81f1e11733ed556ce8efcc15de 100644
--- a/Source/Solvers/imstkNonLinearSolver.h
+++ b/Source/Solvers/imstkNonLinearSolver.h
@@ -26,7 +26,7 @@
#include <functional>
// imstk includes
-#include "imstkNonlinearSystem.h"
+#include "imstkNonLinearSystem.h"
#include "imstkMath.h"
#include "imstkSolverBase.h"
diff --git a/Source/Solvers/imstkNonlinearSystem.cpp b/Source/Solvers/imstkNonLinearSystem.cpp
similarity index 98%
rename from Source/Solvers/imstkNonlinearSystem.cpp
rename to Source/Solvers/imstkNonLinearSystem.cpp
index a014ea8efc42dc89bbe432fe1290a1b85a942b5e..92c688c54b8a1ac4b4e0409814c7fdfb58b6bc80 100644
--- a/Source/Solvers/imstkNonlinearSystem.cpp
+++ b/Source/Solvers/imstkNonLinearSystem.cpp
@@ -19,7 +19,7 @@
=========================================================================*/
-#include "imstkNonlinearSystem.h"
+#include "imstkNonLinearSystem.h"
#include "imstkMath.h"
// #include <g3log/g3log.hpp>
diff --git a/Source/Solvers/imstkNonlinearSystem.h b/Source/Solvers/imstkNonLinearSystem.h
similarity index 100%
rename from Source/Solvers/imstkNonlinearSystem.h
rename to Source/Solvers/imstkNonLinearSystem.h
diff --git a/Source/Solvers/imstkSOR.h b/Source/Solvers/imstkSOR.h
index f310b48bc70d1dde34f439fdf74cdf76864ade3d..d71a93fd9af8aeea16b06a432ab856f6723d3c0e 100644
--- a/Source/Solvers/imstkSOR.h
+++ b/Source/Solvers/imstkSOR.h
@@ -22,7 +22,7 @@
#pragma once
// iMSTK includes
-#include "imstkNonlinearSystem.h"
+#include "imstkNonLinearSystem.h"
#include "imstkIterativeLinearSolver.h"
// Eigen includes
diff --git a/Source/apiUtilities/imstkAPIUtilities.cpp b/Source/apiUtilities/imstkAPIUtilities.cpp
index 59b3a71e74fcb4df88afe3dbf21e1163eb12221c..82bfcb51e895fd2093cfd7cf062fa32cf12ff387 100644
--- a/Source/apiUtilities/imstkAPIUtilities.cpp
+++ b/Source/apiUtilities/imstkAPIUtilities.cpp
@@ -30,7 +30,7 @@
#include "imstkColor.h"
// Solvers
-#include "imstkNonlinearSystem.h"
+#include "imstkNonLinearSystem.h"
// Geometry
#include "imstkPlane.h"