imstkConjugateGradient.h

/*
** This file is part of the Interactive Medical Simulation Toolkit (iMSTK)
** iMSTK is distributed under the Apache License, Version 2.0.
** See accompanying NOTICE for details.
*/

#pragma once

#include "imstkIterativeLinearSolver.h"

#include <Eigen/IterativeLinearSolvers>

namespace imstk
{
class LinearProjectionConstraint;

class ConjugateGradient : public IterativeLinearSolver
{
public:
    ConjugateGradient();
    ConjugateGradient(const SparseMatrixd& A, const Vectord& rhs);
    ~ConjugateGradient() override = default;

    ConjugateGradient(const ConjugateGradient&)  = delete;
    ConjugateGradient(const ConjugateGradient&&) = delete;
    ConjugateGradient& operator=(const ConjugateGradient&)  = delete;
    ConjugateGradient& operator=(const ConjugateGradient&&) = delete;

    //void iterate(Vectord& x, bool updateResidual = true) override {};

    void solve(Vectord& x) override;

    void solve(Vectord& x, const double tolerance);

    double getResidual(const Vectord& x) override;

    void setSystem(std::shared_ptr<LinearSystemType> newSystem) override;

    virtual void setMaxNumIterations(const size_t maxIter) override;

    void setTolerance(const double tolerance);

    void print() const override;

    void applyLinearProjectionFilter(Vectord& x, const std::vector<LinearProjectionConstraint>& linProj, const bool setVal);

    void setLinearProjectors(std::vector<LinearProjectionConstraint>* f)
    {
        m_FixedLinearProjConstraints = f;
    }

    std::vector<LinearProjectionConstraint>& getLinearProjectors()
    {
        return *m_FixedLinearProjConstraints;
    }

    void setDynamicLinearProjectors(std::vector<LinearProjectionConstraint>* f)
    {
        m_DynamicLinearProjConstraints = f;
    }

    std::vector<LinearProjectionConstraint>& getDynamicLinearProjectors()
    {
        return *m_DynamicLinearProjConstraints;
    }

private:
    void modifiedCGSolve(Vectord& x);

    Eigen::ConjugateGradient<SparseMatrixd> m_cgSolver;

    std::vector<LinearProjectionConstraint>* m_FixedLinearProjConstraints   = nullptr;
    std::vector<LinearProjectionConstraint>* m_DynamicLinearProjConstraints = nullptr;
};
} // namespace imstk