IntegrationMatrix

gtsam/basis/Chebyshev2.cpp

@@ -253,4 +253,28 @@ Weights Chebyshev2::IntegrationWeights(size_t N) {
 Weights Chebyshev2::IntegrationWeights(size_t N, double a, double b) {
   return IntegrationWeights(N) * (b - a) / 2.0;
 }
+
+Matrix Chebyshev2::IntegrationMatrix(size_t N) {
+  // Obtain the differentiation matrix.
+  Matrix D = DifferentiationMatrix(N);
+
+  // We want f = D * F, where F is the anti-derivative of f.  
+  // However, D is singular, so we enforce F(0) = f(0) by modifying its first row.
+  D.row(0).setZero();
+  D(0, 0) = 1.0;
+
+  // Now D is invertible; its inverse is the integration operator.
+  return D.inverse();
+}
+
+/**
+ * Create vector of values at Chebyshev points given scalar-valued function.
+ */
+Vector Chebyshev2::vector(std::function<double(double)> f, size_t N, double a, double b) {
+  Vector fvals(N);
+  const Vector points = Points(N, a, b);
+  for (size_t j = 0; j < N; j++) fvals(j) = f(points(j));
+  return fvals;
+}
+
 }  // namespace gtsam

gtsam/basis/Chebyshev2.h

@@ -105,22 +105,28 @@ class GTSAM_EXPORT Chebyshev2 : public Basis<Chebyshev2> {
   /**
    *  Evaluate Clenshaw-Curtis integration weights.
    *  Trefethen00book, pg 128, clencurt.m
+   *  Note that N in clencurt.m is 1 less than our N
    */
   static Weights IntegrationWeights(size_t N);
 
   /// Evaluate Clenshaw-Curtis integration weights, for interval [a,b]
   static Weights IntegrationWeights(size_t N, double a, double b);
 
-  /**
-   * Create matrix of values at Chebyshev points given vector-valued function.
-   */
+  /// IntegrationMatrix returns the (N+1)×(N+1) matrix P such that for any f,
+  /// F = P * f recovers F (the antiderivative) satisfying f = D * F and F(0)=0.
+  static Matrix IntegrationMatrix(size_t N);
+
+  /// Create matrix of values at Chebyshev points given vector-valued function.
+  static Vector vector(std::function<double(double)> f,
+    size_t N, double a = -1, double b = 1);
+
+  /// Create matrix of values at Chebyshev points given vector-valued function.
   template <size_t M>
   static Matrix matrix(std::function<Eigen::Matrix<double, M, 1>(double)> f,
     size_t N, double a = -1, double b = 1) {
     Matrix Xmat(M, N);
-    for (size_t j = 0; j < N; j++) {
-      Xmat.col(j) = f(Point(N, j, a, b));
-    }
+    const Vector points = Points(N, a, b);
+    for (size_t j = 0; j < N; j++) Xmat.col(j) = f(points(j));
     return Xmat;
   }
 };  // \ Chebyshev2

gtsam/basis/tests/testChebyshev2.cpp

@@ -247,13 +247,6 @@ double f(double x) {
   return 3.0 * pow(x, 3) - 2.0 * pow(x, 2) + 5.0 * x - 11;
 }
 
-Eigen::Matrix<double, -1, 1> calculateFvals(size_t N, double a = -1., double b = 1.) {
-  const Vector xs = Chebyshev2::Points(N, a, b);
-  Vector fvals(N);
-  std::transform(xs.data(), xs.data() + N, fvals.data(), f);
-  return fvals;
-}
-
 // its derivative
 double fprime(double x) {
   // return 9*(x**2) - 4*(x) + 5
@@ -262,7 +255,7 @@ double fprime(double x) {
 
 //******************************************************************************
 TEST(Chebyshev2, CalculateWeights) {
-Vector fvals = calculateFvals(N);
+Vector fvals = Chebyshev2::vector(f, N);
   double x1 = 0.7, x2 = -0.376;
   Weights weights1 = Chebyshev2::CalculateWeights(N, x1);
   Weights weights2 = Chebyshev2::CalculateWeights(N, x2);
@@ -272,7 +265,7 @@ Vector fvals = calculateFvals(N);
 
 TEST(Chebyshev2, CalculateWeights2) {
   double a = 0, b = 10, x1 = 7, x2 = 4.12;
-  Vector fvals = calculateFvals(N, a, b);
+  Vector fvals = Chebyshev2::vector(f, N, a, b);
 
   Weights weights1 = Chebyshev2::CalculateWeights(N, x1, a, b);
   EXPECT_DOUBLES_EQUAL(f(x1), weights1 * fvals, 1e-8);
@@ -298,14 +291,14 @@ TEST(Chebyshev2, CalculateWeights_CoincidingPoint) {
 }
 
 TEST(Chebyshev2, DerivativeWeights) {
-  Vector fvals = calculateFvals(N);
+  Vector fvals = Chebyshev2::vector(f, N);
   std::vector<double> testPoints = {0.7, -0.376, 0.0};
   for (double x : testPoints) {
     Weights dWeights = Chebyshev2::DerivativeWeights(N, x);
     EXPECT_DOUBLES_EQUAL(fprime(x), dWeights * fvals, 1e-9);
   }
 
-  // test if derivative calculation at cheb point is correct
+  // test if derivative calculation at Chebyshev point is correct
   double x4 = Chebyshev2::Point(N, 3);
   Weights dWeights4 = Chebyshev2::DerivativeWeights(N, x4);
   EXPECT_DOUBLES_EQUAL(fprime(x4), dWeights4 * fvals, 1e-9);
@@ -313,7 +306,7 @@ TEST(Chebyshev2, DerivativeWeights) {
 
 TEST(Chebyshev2, DerivativeWeights2) {
   double x1 = 5, x2 = 4.12, a = 0, b = 10;
-  Vector fvals = calculateFvals(N, a, b);
+  Vector fvals = Chebyshev2::vector(f, N, a, b);
 
   Weights dWeights1 = Chebyshev2::DerivativeWeights(N, x1, a, b);
   EXPECT_DOUBLES_EQUAL(fprime(x1), dWeights1 * fvals, 1e-8);
@@ -370,9 +363,8 @@ double proxy3(double x) {
   return Chebyshev2::EvaluationFunctor(6, x)(f3_at_6points);
 }
 
-TEST(Chebyshev2, Derivative6) {
 // Check Derivative evaluation at point x=0.2
-
+TEST(Chebyshev2, Derivative6) {
   // calculate expected values by numerical derivative of synthesis
   const double x = 0.2;
   Matrix numeric_dTdx = numericalDerivative11<double, double>(proxy3, x);
@@ -496,6 +488,38 @@ TEST(Chebyshev2, IntegralWeights) {
   EXPECT(assert_equal(expected2, actual2));
 }
 
+//******************************************************************************
+TEST(Chebyshev2, IntegrationMatrixOperator) {
+  const int N = 10;  // number of intervals => N+1 nodes
+  const double a = -1.0, b = 1.0;
+
+  // Create integration matrix
+  Matrix P = Chebyshev2::IntegrationMatrix(N);
+
+  // Get values of the derivative (fprime) at the Chebyshev nodes
+  Vector ff = Chebyshev2::vector(fprime, N, a, b);
+
+  // Integrate to get back f, using the integration matrix
+  Vector F_est = P * ff;
+
+  // Assert that the first value is ff(0)
+  EXPECT_DOUBLES_EQUAL(ff(0), F_est(0), 1e-9);
+
+  // For comparison, get actual function values at the nodes
+  Vector F_true = Chebyshev2::vector(f, N, a, b);
+
+  // Verify the integration matrix worked correctly
+  F_est.array() += F_true(0) - F_est(0);
+  EXPECT(assert_equal(F_true, F_est, 1e-9));
+
+  // Differentiate the result to get back to our derivative function
+  Matrix D = Chebyshev2::DifferentiationMatrix(N);
+  Vector ff_est = D * F_est;
+
+  // Verify the round trip worked
+  EXPECT(assert_equal(ff, ff_est, 1e-9));
+}
+
 //******************************************************************************
 int main() {
   TestResult tr;