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[REFACTOR] Remove Debug statements from Iteration.

release/4.3a0
Ivan Jimenez 2016-01-26 07:56:52 -05:00
parent 84662bc5d9
commit 796e2d813c
3 changed files with 1 additions and 43 deletions
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23
gtsam_unstable/linear/LPSolver.h
View File

@ -81,17 +81,11 @@ public:
//******************************************************************************
LPState iterate(const LPState& state) const {
static bool debug = false;
// Solve with the current working set
// LP: project the objective neggradient to the constraint's null space
// to find the direction to move
VectorValues newValues = solveWithCurrentWorkingSet(state.values,
state.workingSet);
// if (debug) state.workingSet.print("Working set:");
if (debug)
(newValues - state.values).print("New direction:");
// If we CAN'T move further
// LP: projection on the constraints' nullspace is zero: we are at a vertex
if (newValues.equals(state.values, 1e-7)) {
@ -99,21 +93,11 @@ public:
// Compute lambda from the dual graph
// LP: project the objective's gradient onto each constraint gradient to obtain the dual scaling factors
// is it true??
if (debug)
cout << "Building dual graph..." << endl;
GaussianFactorGraph::shared_ptr dualGraph = buildDualGraph(
state.workingSet, newValues);
if (debug)
dualGraph->print("Dual graph: ");
VectorValues duals = dualGraph->optimize();
if (debug)
duals.print("Duals :");
// LP: see which ineq constraint has wrong pulling direction, i.e., dual < 0
int leavingFactor = identifyLeavingConstraint(state.workingSet, duals);
if (debug)
cout << "leavingFactor: " << leavingFactor << endl;
// If all inequality constraints are satisfied: We have the solution!!
if (leavingFactor < 0) {
// TODO If we still have infeasible equality constraints: the problem is over-constrained. No solution!
@ -139,19 +123,12 @@ public:
VectorValues p = newValues - state.values;
boost::tie(alpha, factorIx) = // using 16.41
computeStepSize(state.workingSet, state.values, p);
if (debug)
cout << "alpha, factorIx: " << alpha << " " << factorIx << " " << endl;
// also add to the working set the one that complains the most
InequalityFactorGraph newWorkingSet = state.workingSet;
if (factorIx >= 0)
newWorkingSet.at(factorIx)->activate();
// step!
newValues = state.values + alpha * p;
if (debug)
newValues.print("New solution:");
return LPState(newValues, state.duals, newWorkingSet, false,
state.iterations + 1);
}

20
gtsam_unstable/linear/QPSolver.cpp
View File

@ -101,32 +101,17 @@ return ActiveSetSolver::computeStepSize(workingSet, xk, p, 1);
//******************************************************************************
QPState QPSolver::iterate(const QPState& state) const {
static bool debug = false;
// Algorithm 16.3 from Nocedal06book.
// Solve with the current working set eqn 16.39, but instead of solving for p solve for x
VectorValues newValues = solveWithCurrentWorkingSet(state.workingSet);
if (debug)
newValues.print("New solution:");
// If we CAN'T move further
// if p_k = 0 is the original condition, modified by Duy to say that the state update is zero.
if (newValues.equals(state.values, 1e-7)) {
// Compute lambda from the dual graph
if (debug)
cout << "Building dual graph..." << endl;
GaussianFactorGraph::shared_ptr dualGraph = buildDualGraph(state.workingSet,
newValues);
if (debug)
dualGraph->print("Dual graph: ");
VectorValues duals = dualGraph->optimize();
if (debug)
duals.print("Duals :");
int leavingFactor = identifyLeavingConstraint(state.workingSet, duals);
if (debug)
cout << "leavingFactor: " << leavingFactor << endl;
// If all inequality constraints are satisfied: We have the solution!!
if (leavingFactor < 0) {
return QPState(newValues, duals, state.workingSet, true,
@ -145,17 +130,12 @@ if (newValues.equals(state.values, 1e-7)) {
VectorValues p = newValues - state.values;
boost::tie(alpha, factorIx) = // using 16.41
computeStepSize(state.workingSet, state.values, p);
if (debug)
cout << "alpha, factorIx: " << alpha << " " << factorIx << " " << endl;
// also add to the working set the one that complains the most
InequalityFactorGraph newWorkingSet = state.workingSet;
if (factorIx >= 0)
newWorkingSet.at(factorIx)->activate();
// step!
newValues = state.values + alpha * p;
return QPState(newValues, state.duals, newWorkingSet, false,
state.iterations + 1);
}

1
gtsam_unstable/linear/QPSolver.h
View File

@ -32,6 +32,7 @@ namespace gtsam {
* defined in the QP struct.
* Note: This version of QPSolver only works with a feasible initial value.
*/
//TODO: Remove Vector Values
class QPSolver: public ActiveSetSolver {
const QP& qp_; //!< factor graphs of the QP problem, can't be modified!