Actual source code: gpcg.c
petsc-3.10.5 2019-03-28
1: #include <petscksp.h>
2: #include <../src/tao/quadratic/impls/gpcg/gpcg.h>
5: static PetscErrorCode GPCGGradProjections(Tao tao);
6: static PetscErrorCode GPCGObjectiveAndGradient(TaoLineSearch,Vec,PetscReal*,Vec,void*);
8: /*------------------------------------------------------------*/
9: static PetscErrorCode TaoDestroy_GPCG(Tao tao)
10: {
11: TAO_GPCG *gpcg = (TAO_GPCG *)tao->data;
14: /* Free allocated memory in GPCG structure */
16: VecDestroy(&gpcg->B);
17: VecDestroy(&gpcg->Work);
18: VecDestroy(&gpcg->X_New);
19: VecDestroy(&gpcg->G_New);
20: VecDestroy(&gpcg->DXFree);
21: VecDestroy(&gpcg->R);
22: VecDestroy(&gpcg->PG);
23: MatDestroy(&gpcg->Hsub);
24: MatDestroy(&gpcg->Hsub_pre);
25: ISDestroy(&gpcg->Free_Local);
26: PetscFree(tao->data);
27: return(0);
28: }
30: /*------------------------------------------------------------*/
31: static PetscErrorCode TaoSetFromOptions_GPCG(PetscOptionItems *PetscOptionsObject,Tao tao)
32: {
33: TAO_GPCG *gpcg = (TAO_GPCG *)tao->data;
35: PetscBool flg;
38: PetscOptionsHead(PetscOptionsObject,"Gradient Projection, Conjugate Gradient method for bound constrained optimization");
39: ierr=PetscOptionsInt("-tao_gpcg_maxpgits","maximum number of gradient projections per GPCG iterate",NULL,gpcg->maxgpits,&gpcg->maxgpits,&flg);
40: PetscOptionsTail();
41: KSPSetFromOptions(tao->ksp);
42: TaoLineSearchSetFromOptions(tao->linesearch);
43: return(0);
44: }
46: /*------------------------------------------------------------*/
47: static PetscErrorCode TaoView_GPCG(Tao tao, PetscViewer viewer)
48: {
49: TAO_GPCG *gpcg = (TAO_GPCG *)tao->data;
50: PetscBool isascii;
54: PetscObjectTypeCompare((PetscObject)viewer,PETSCVIEWERASCII,&isascii);
55: if (isascii) {
56: PetscViewerASCIIPrintf(viewer,"Total PG its: %D,",gpcg->total_gp_its);
57: PetscViewerASCIIPrintf(viewer,"PG tolerance: %g \n",(double)gpcg->pg_ftol);
58: }
59: TaoLineSearchView(tao->linesearch,viewer);
60: return(0);
61: }
63: /* GPCGObjectiveAndGradient()
64: Compute f=0.5 * x'Hx + b'x + c
65: g=Hx + b
66: */
67: static PetscErrorCode GPCGObjectiveAndGradient(TaoLineSearch ls, Vec X, PetscReal *f, Vec G, void*tptr)
68: {
69: Tao tao = (Tao)tptr;
70: TAO_GPCG *gpcg = (TAO_GPCG*)tao->data;
72: PetscReal f1,f2;
75: MatMult(tao->hessian,X,G);
76: VecDot(G,X,&f1);
77: VecDot(gpcg->B,X,&f2);
78: VecAXPY(G,1.0,gpcg->B);
79: *f=f1/2.0 + f2 + gpcg->c;
80: return(0);
81: }
83: /* ---------------------------------------------------------- */
84: static PetscErrorCode TaoSetup_GPCG(Tao tao)
85: {
87: TAO_GPCG *gpcg = (TAO_GPCG *)tao->data;
90: /* Allocate some arrays */
91: if (!tao->gradient) {
92: VecDuplicate(tao->solution, &tao->gradient);
93: }
94: if (!tao->stepdirection) {
95: VecDuplicate(tao->solution, &tao->stepdirection);
96: }
97: if (!tao->XL) {
98: VecDuplicate(tao->solution,&tao->XL);
99: VecSet(tao->XL,PETSC_NINFINITY);
100: }
101: if (!tao->XU) {
102: VecDuplicate(tao->solution,&tao->XU);
103: VecSet(tao->XU,PETSC_INFINITY);
104: }
106: ierr=VecDuplicate(tao->solution,&gpcg->B);
107: ierr=VecDuplicate(tao->solution,&gpcg->Work);
108: ierr=VecDuplicate(tao->solution,&gpcg->X_New);
109: ierr=VecDuplicate(tao->solution,&gpcg->G_New);
110: ierr=VecDuplicate(tao->solution,&gpcg->DXFree);
111: ierr=VecDuplicate(tao->solution,&gpcg->R);
112: ierr=VecDuplicate(tao->solution,&gpcg->PG);
113: /*
114: if (gpcg->ksp_type == GPCG_KSP_NASH) {
115: KSPSetType(tao->ksp,KSPCGNASH);
116: } else if (gpcg->ksp_type == GPCG_KSP_STCG) {
117: KSPSetType(tao->ksp,KSPCGSTCG);
118: } else {
119: KSPSetType(tao->ksp,KSPCGGLTR);
120: }
121: if (tao->ksp->ops->setfromoptions) {
122: (*tao->ksp->ops->setfromoptions)(tao->ksp);
123: }
125: }
126: */
127: return(0);
128: }
130: static PetscErrorCode TaoSolve_GPCG(Tao tao)
131: {
132: TAO_GPCG *gpcg = (TAO_GPCG *)tao->data;
133: PetscErrorCode ierr;
134: PetscInt its;
135: PetscReal actred,f,f_new,gnorm,gdx,stepsize,xtb;
136: PetscReal xtHx;
137: TaoLineSearchConvergedReason ls_status = TAOLINESEARCH_CONTINUE_ITERATING;
141: TaoComputeVariableBounds(tao);
142: VecMedian(tao->XL,tao->solution,tao->XU,tao->solution);
143: TaoLineSearchSetVariableBounds(tao->linesearch,tao->XL,tao->XU);
145: /* Using f = .5*x'Hx + x'b + c and g=Hx + b, compute b,c */
146: TaoComputeHessian(tao,tao->solution,tao->hessian,tao->hessian_pre);
147: TaoComputeObjectiveAndGradient(tao,tao->solution,&f,tao->gradient);
148: VecCopy(tao->gradient, gpcg->B);
149: MatMult(tao->hessian,tao->solution,gpcg->Work);
150: VecDot(gpcg->Work, tao->solution, &xtHx);
151: VecAXPY(gpcg->B,-1.0,gpcg->Work);
152: VecDot(gpcg->B,tao->solution,&xtb);
153: gpcg->c=f-xtHx/2.0-xtb;
154: if (gpcg->Free_Local) {
155: ISDestroy(&gpcg->Free_Local);
156: }
157: VecWhichInactive(tao->XL,tao->solution,tao->gradient,tao->XU,PETSC_TRUE,&gpcg->Free_Local);
159: /* Project the gradient and calculate the norm */
160: VecCopy(tao->gradient,gpcg->G_New);
161: VecBoundGradientProjection(tao->gradient,tao->solution,tao->XL,tao->XU,gpcg->PG);
162: VecNorm(gpcg->PG,NORM_2,&gpcg->gnorm);
163: tao->step=1.0;
164: gpcg->f = f;
166: /* Check Stopping Condition */
167: tao->reason = TAO_CONTINUE_ITERATING;
168: TaoLogConvergenceHistory(tao,f,gpcg->gnorm,0.0,tao->ksp_its);
169: TaoMonitor(tao,tao->niter,f,gpcg->gnorm,0.0,tao->step);
170: (*tao->ops->convergencetest)(tao,tao->cnvP);
172: while (tao->reason == TAO_CONTINUE_ITERATING){
173: tao->ksp_its=0;
175: GPCGGradProjections(tao);
176: ISGetSize(gpcg->Free_Local,&gpcg->n_free);
178: f=gpcg->f; gnorm=gpcg->gnorm;
180: KSPReset(tao->ksp);
182: if (gpcg->n_free > 0){
183: /* Create a reduced linear system */
184: VecDestroy(&gpcg->R);
185: VecDestroy(&gpcg->DXFree);
186: TaoVecGetSubVec(tao->gradient,gpcg->Free_Local, tao->subset_type, 0.0, &gpcg->R);
187: VecScale(gpcg->R, -1.0);
188: TaoVecGetSubVec(tao->stepdirection,gpcg->Free_Local,tao->subset_type, 0.0, &gpcg->DXFree);
189: VecSet(gpcg->DXFree,0.0);
191: TaoMatGetSubMat(tao->hessian, gpcg->Free_Local, gpcg->Work, tao->subset_type, &gpcg->Hsub);
193: if (tao->hessian_pre == tao->hessian) {
194: MatDestroy(&gpcg->Hsub_pre);
195: PetscObjectReference((PetscObject)gpcg->Hsub);
196: gpcg->Hsub_pre = gpcg->Hsub;
197: } else {
198: TaoMatGetSubMat(tao->hessian, gpcg->Free_Local, gpcg->Work, tao->subset_type, &gpcg->Hsub_pre);
199: }
201: KSPReset(tao->ksp);
202: KSPSetOperators(tao->ksp,gpcg->Hsub,gpcg->Hsub_pre);
204: KSPSolve(tao->ksp,gpcg->R,gpcg->DXFree);
205: KSPGetIterationNumber(tao->ksp,&its);
206: tao->ksp_its+=its;
207: tao->ksp_tot_its+=its;
208: VecSet(tao->stepdirection,0.0);
209: VecISAXPY(tao->stepdirection,gpcg->Free_Local,1.0,gpcg->DXFree);
211: VecDot(tao->stepdirection,tao->gradient,&gdx);
212: TaoLineSearchSetInitialStepLength(tao->linesearch,1.0);
213: f_new=f;
214: TaoLineSearchApply(tao->linesearch,tao->solution,&f_new,tao->gradient,tao->stepdirection,&stepsize,&ls_status);
216: actred = f_new - f;
218: /* Evaluate the function and gradient at the new point */
219: VecBoundGradientProjection(tao->gradient,tao->solution,tao->XL,tao->XU, gpcg->PG);
220: VecNorm(gpcg->PG, NORM_2, &gnorm);
221: f=f_new;
222: ISDestroy(&gpcg->Free_Local);
223: VecWhichInactive(tao->XL,tao->solution,tao->gradient,tao->XU,PETSC_TRUE,&gpcg->Free_Local);
224: } else {
225: actred = 0; gpcg->step=1.0;
226: /* if there were no free variables, no cg method */
227: }
229: tao->niter++;
230: gpcg->f=f;gpcg->gnorm=gnorm; gpcg->actred=actred;
231: TaoLogConvergenceHistory(tao,f,gpcg->gnorm,0.0,tao->ksp_its);
232: TaoMonitor(tao,tao->niter,f,gpcg->gnorm,0.0,tao->step);
233: (*tao->ops->convergencetest)(tao,tao->cnvP);
234: if (tao->reason != TAO_CONTINUE_ITERATING) break;
235: } /* END MAIN LOOP */
237: return(0);
238: }
240: static PetscErrorCode GPCGGradProjections(Tao tao)
241: {
242: PetscErrorCode ierr;
243: TAO_GPCG *gpcg = (TAO_GPCG *)tao->data;
244: PetscInt i;
245: PetscReal actred=-1.0,actred_max=0.0, gAg,gtg=gpcg->gnorm,alpha;
246: PetscReal f_new,gdx,stepsize;
247: Vec DX=tao->stepdirection,XL=tao->XL,XU=tao->XU,Work=gpcg->Work;
248: Vec X=tao->solution,G=tao->gradient;
249: TaoLineSearchConvergedReason lsflag=TAOLINESEARCH_CONTINUE_ITERATING;
251: /*
252: The free, active, and binding variables should be already identified
253: */
255: for (i=0;i<gpcg->maxgpits;i++){
256: if ( -actred <= (gpcg->pg_ftol)*actred_max) break;
257: VecBoundGradientProjection(G,X,XL,XU,DX);
258: VecScale(DX,-1.0);
259: VecDot(DX,G,&gdx);
261: MatMult(tao->hessian,DX,Work);
262: VecDot(DX,Work,&gAg);
264: gpcg->gp_iterates++;
265: gpcg->total_gp_its++;
267: gtg=-gdx;
268: if (PetscAbsReal(gAg) == 0.0) {
269: alpha = 1.0;
270: } else {
271: alpha = PetscAbsReal(gtg/gAg);
272: }
273: TaoLineSearchSetInitialStepLength(tao->linesearch,alpha);
274: f_new=gpcg->f;
275: TaoLineSearchApply(tao->linesearch,X,&f_new,G,DX,&stepsize,&lsflag);
277: /* Update the iterate */
278: actred = f_new - gpcg->f;
279: actred_max = PetscMax(actred_max,-(f_new - gpcg->f));
280: gpcg->f = f_new;
281: ISDestroy(&gpcg->Free_Local);
282: VecWhichInactive(XL,X,tao->gradient,XU,PETSC_TRUE,&gpcg->Free_Local);
283: }
285: gpcg->gnorm=gtg;
286: return(0);
287: } /* End gradient projections */
289: static PetscErrorCode TaoComputeDual_GPCG(Tao tao, Vec DXL, Vec DXU)
290: {
291: TAO_GPCG *gpcg = (TAO_GPCG *)tao->data;
295: VecBoundGradientProjection(tao->gradient, tao->solution, tao->XL, tao->XU, gpcg->Work);
296: VecCopy(gpcg->Work, DXL);
297: VecAXPY(DXL,-1.0,tao->gradient);
298: VecSet(DXU,0.0);
299: VecPointwiseMax(DXL,DXL,DXU);
301: VecCopy(tao->gradient,DXU);
302: VecAXPY(DXU,-1.0,gpcg->Work);
303: VecSet(gpcg->Work,0.0);
304: VecPointwiseMin(DXU,gpcg->Work,DXU);
305: return(0);
306: }
308: /*------------------------------------------------------------*/
309: /*MC
310: TAOGPCG - gradient projected conjugate gradient algorithm is an active-set
311: conjugate-gradient based method for bound-constrained minimization
313: Options Database Keys:
314: + -tao_gpcg_maxpgits - maximum number of gradient projections for GPCG iterate
315: - -tao_subset_type - "subvec","mask","matrix-free", strategies for handling active-sets
317: Level: beginner
318: M*/
319: PETSC_EXTERN PetscErrorCode TaoCreate_GPCG(Tao tao)
320: {
321: TAO_GPCG *gpcg;
325: tao->ops->setup = TaoSetup_GPCG;
326: tao->ops->solve = TaoSolve_GPCG;
327: tao->ops->view = TaoView_GPCG;
328: tao->ops->setfromoptions = TaoSetFromOptions_GPCG;
329: tao->ops->destroy = TaoDestroy_GPCG;
330: tao->ops->computedual = TaoComputeDual_GPCG;
332: PetscNewLog(tao,&gpcg);
333: tao->data = (void*)gpcg;
335: /* Override default settings (unless already changed) */
336: if (!tao->max_it_changed) tao->max_it=500;
337: if (!tao->max_funcs_changed) tao->max_funcs = 100000;
338: #if defined(PETSC_USE_REAL_SINGLE)
339: if (!tao->gatol_changed) tao->gatol=1e-6;
340: if (!tao->grtol_changed) tao->grtol=1e-6;
341: #else
342: if (!tao->gatol_changed) tao->gatol=1e-12;
343: if (!tao->grtol_changed) tao->grtol=1e-12;
344: #endif
346: /* Initialize pointers and variables */
347: gpcg->n=0;
348: gpcg->maxgpits = 8;
349: gpcg->pg_ftol = 0.1;
351: gpcg->gp_iterates=0; /* Cumulative number */
352: gpcg->total_gp_its = 0;
354: /* Initialize pointers and variables */
355: gpcg->n_bind=0;
356: gpcg->n_free = 0;
357: gpcg->n_upper=0;
358: gpcg->n_lower=0;
359: gpcg->subset_type = TAO_SUBSET_MASK;
360: gpcg->Hsub=NULL;
361: gpcg->Hsub_pre=NULL;
363: KSPCreate(((PetscObject)tao)->comm, &tao->ksp);
364: PetscObjectIncrementTabLevel((PetscObject)tao->ksp, (PetscObject)tao, 1);
365: KSPSetOptionsPrefix(tao->ksp, tao->hdr.prefix);
366: KSPSetType(tao->ksp,KSPCGNASH);
368: TaoLineSearchCreate(((PetscObject)tao)->comm, &tao->linesearch);
369: PetscObjectIncrementTabLevel((PetscObject)tao->linesearch, (PetscObject)tao, 1);
370: TaoLineSearchSetType(tao->linesearch, TAOLINESEARCHGPCG);
371: TaoLineSearchSetObjectiveAndGradientRoutine(tao->linesearch, GPCGObjectiveAndGradient, tao);
372: TaoLineSearchSetOptionsPrefix(tao->linesearch,tao->hdr.prefix);
373: return(0);
374: }