LinearSparseSolveAndInverse.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_MATH_LINEARSPARSESOLVEANDINVERSE_H
#define SURGSIM_MATH_LINEARSPARSESOLVEANDINVERSE_H

#if defined(_MSC_VER)
#pragma warning(push)
#pragma warning(disable:4244)
#endif

#include <Eigen/SparseCore>
#include <unordered_map>

#include <boost/assign/list_of.hpp> // for 'map_list_of()'

#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/SparseMatrix.h"
#include "SurgSim/Math/Vector.h"

namespace SurgSim
{

namespace Math
{

enum LinearSolver
{
    LINEARSOLVER_LU = 0,
    LINEARSOLVER_CONJUGATEGRADIENT,
    MAX_LINEARSOLVER
};

const std::unordered_map<LinearSolver, std::string, std::hash<int>> LinearSolverNames =
            boost::assign::map_list_of
            (LINEARSOLVER_LU, "LINEARSOLVER_LU")
            (LINEARSOLVER_CONJUGATEGRADIENT, "LINEARSOLVER_CONJUGATEGRADIENT");

class LinearSparseSolveAndInverse
{
public:
    virtual ~LinearSparseSolveAndInverse() {}


    virtual void setMatrix(const SparseMatrix& matrix) = 0;

    virtual Matrix solve(const Matrix& b) const = 0;

    virtual Matrix getInverse() const;

protected:
    SparseMatrix m_matrix;

};

class LinearSparseSolveAndInverseLU : public LinearSparseSolveAndInverse
{
public:
    void setMatrix(const SparseMatrix& matrix) override;

    Matrix getInverse() const override;

    Matrix solve(const Matrix& b) const override;

private:
    Eigen::SparseLU<SparseMatrix> m_solver;
    Matrix m_identity;
};

class LinearSparseSolveAndInverseCG : public LinearSparseSolveAndInverse
{
public:
    void setTolerance(double tolerance);

    double getTolerance();

    void setMaxIterations(Eigen::Index iterations);

    Eigen::Index getMaxIterations();

    void setMatrix(const SparseMatrix& matrix) override;

    Matrix solve(const Matrix& b) const override;

private:
    Eigen::ConjugateGradient<SparseMatrix> m_solver;
};

}; // namespace Math

}; // namespace SurgSim

#if defined(_MSC_VER)
#pragma warning(pop)
#endif

#endif // SURGSIM_MATH_LINEARSPARSESOLVEANDINVERSE_H