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tamaas/src/solvers/kato.hh
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kato.hh
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/**
* @file
*
* @author Son Pham-Ba <son.phamba@epfl.ch>
*
* @section LICENSE
*
* Copyright (©) 2016-2018 EPFL (Ecole Polytechnique Fédérale de
* Lausanne) Laboratory (LSMS - Laboratoire de Simulation en Mécanique des
* Solides)
*
* Tamaas is free software: you can redistribute it and/or modify it under the
* terms of the GNU Lesser General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* Tamaas 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 Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with Tamaas. If not, see <http://www.gnu.org/licenses/>.
*
*/
/* -------------------------------------------------------------------------- */
#ifndef __KATO_HH__
#define __KATO_HH__
/* -------------------------------------------------------------------------- */
#include "contact_solver.hh"
#include "meta_functional.hh"
#include "model_type.hh"
#include "static_types.hh"
#include "tamaas.hh"
/* -------------------------------------------------------------------------- */
__BEGIN_TAMAAS__
class Kato : public ContactSolver {
public:
/// Constructor
Kato(Model& model, const GridBase<Real>& surface, Real tolerance, Real mu);
public:
/// Solve
Real solve(GridBase<Real>& p0, UInt proj_iter);
/// Solve relaxed problem
Real solveRelaxed(GridBase<Real>& g0);
/// Solve regularized problem
Real solveRegularized(GridBase<Real>& p0, Real r);
/// Compute cost function
Real computeCost();
private:
/// Template for solve function
template <model_type type>
Real solveTmpl(GridBase<Real>& p0, UInt proj_iter);
/// Template for solveRelaxed function
template <model_type type>
Real solveRelaxedTmpl(GridBase<Real>& g0);
/// Template for solveRegularized function
template <model_type type>
Real solveRegularizedTmpl(GridBase<Real>& p0, Real r);
protected:
/// Creates surfaceComp form surface
template <model_type type>
void initSurfaceWithComponents();
/// Compute gradient of functional
template <UInt comp>
void computeGradient();
/// Project pressure on friction cone
template <UInt comp>
void enforcePressureConstraints(GridBase<Real>& p0, UInt proj_iter);
/// Project on C
template <UInt comp>
void enforcePressureMean(GridBase<Real>& p0);
/// Project on D
template <UInt comp>
void enforcePressureCoulomb();
/// Comupte mean value of field
template <UInt comp>
Vector<Real, comp> computeMean(GridBase<Real>& field);
/// Add vector to each point of field
template <UInt comp>
void addUniform(GridBase<Real>& field, GridBase<Real>& vec);
/// Regularization function with factor r (0 -> unregugularized)
Real regularize(Real x, Real r);
/// Compute mean gap
template <model_type type>
Real computeBeta();
/// Compute grids of dual and primal variables
template <model_type type>
void computeValuesForCost(Real beta, GridBase<Real>& lambda,
GridBase<Real>& eta, GridBase<Real>& p_N, GridBase<Real>& p_C);
/// Compute total displacement
template <UInt comp>
void computeFinalGap();
protected:
BEEngine& engine;
GridBase<Real>* gap = nullptr;
GridBase<Real>* pressure = nullptr;
std::unique_ptr<GridBase<Real>> surfaceComp = nullptr;
Real mu = 0;
UInt N = 0; // number of points
};
__END_TAMAAS__
#endif // __KATO_HH__
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