TrustRegionIntegrator.cuh

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#ifndef PBAT_GPU_IMPL_VBD_TRUSTREGIONINTEGRATOR_CUH
#define PBAT_GPU_IMPL_VBD_TRUSTREGIONINTEGRATOR_CUH
 
#include "Integrator.cuh"
#include "pbat/math/linalg/mini/Matrix.h"
 
namespace pbat::gpu::impl::vbd {

class TrustRegionIntegrator : public Integrator
{
  public:
    TrustRegionIntegrator(Data const& data);
    virtual void Solve(kernels::BackwardEulerMinimization& bdf, GpuIndex iterations) override;
    void
    SolveWithLinearAcceleratedPath(kernels::BackwardEulerMinimization& bdf, GpuIndex iterations);
    void
    SolveWithCurvedAccelerationPath(kernels::BackwardEulerMinimization& bdf, GpuIndex iterations);
    GpuScalar ObjectiveFunction(GpuScalar dt, GpuScalar dt2);
    virtual ~TrustRegionIntegrator() = default;


    void UpdateIterates();
    GpuScalar ModelFunction(GpuScalar t) const;
    GpuScalar ModelOptimalStep() const;
    void ConstructModel();
    GpuScalar SquaredStepSize() const;
    void TakeLinearStep(GpuScalar t);
    void RollbackLinearStep(GpuScalar t);
 
    using Matrix3 =
        pbat::math::linalg::mini::SMatrix<GpuScalar, 3, 3>;          
    using Vector3 = pbat::math::linalg::mini::SVector<GpuScalar, 3>; 
    using Vector5 = pbat::math::linalg::mini::SVector<Scalar, 5>;    

    void ComputePolynomialConstraintCoefficients();
    Scalar SolveCurvedTrustRegionConstraint(Scalar R2) const;
    void ComputeCurvedPath();
    void TakeCurvedStep(GpuScalar t);
    void RollbackCurvedStep();
 
  private:
    GpuScalar eta;                     
    GpuScalar tau;                     
    common::Buffer<GpuScalar, 3> xkm1; 
    common::Buffer<GpuScalar, 3> xkm2; 
    GpuScalar fk, fkm1, fkm2;          
    GpuScalar tk, tkm1, tkm2; 
 
    Matrix3 Q;        
    Vector3 aQ;       
    GpuScalar am, bm; 
    Vector5 sigmax;   
    common::Buffer<GpuScalar, 3> ax; 
    common::Buffer<GpuScalar, 3> bx; 
    common::Buffer<GpuScalar, 3> cx; 
    bool bUseCurvedPath;             
};
 
} // namespace pbat::gpu::impl::vbd
 
#endif // PBAT_GPU_IMPL_VBD_TRUSTREGIONINTEGRATOR_CUH