#include <AsyncSparseLDLSolver.h>

Inheritance diagram for sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >:

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Detailed Description

template<class TMatrix, class TVector, class TThreadManager = NoThreadManager>
class sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >

This linear solver is based on SparseLDLSolver, a direct linear solver which factorizes the linear system matrix. Its particularity is its asynchronous factorization.

The synchronous version performs the following operations (synchronously): 1) Build the matrix 2) Factorize the matrix 3) Solve the system based on the factorization

In the asynchronous version, the factorization is performed asynchronously. A consequence is that the solving process uses a factorization which may not be up to date. In practice, the factorization is at least one time step old. Because of this, the solver computes an approximation of the solution, based on an old factorization. It changes the behavior compared to a synchronous version, but it also changes the behavior depending on the duration of the factorization step. It may introduce instabilities.

Protected Attributes
InvertData	m_secondInvertData

InvertData *	m_mainThreadInvertData { nullptr }

InvertData *	m_asyncThreadInvertData { nullptr }

std::future< void >	m_asyncResult
	Result of the asynchronous task. More...

bool	waitForAsyncTask { true }

std::atomic< bool >	newInvertDataReady { false }

bool	m_hasUpdatedMatrix { false }

Protected Attributes inherited from sofa::component::linearsolver::direct::SparseLDLSolver< TMatrix, TVector, NoThreadManager >
type::vector< sofa::SignedIndex >	Jlocal2global

sofa::linearalgebra::FullMatrix< Real >	JLinvDinv

sofa::linearalgebra::FullMatrix< Real >	JLinv

sofa::linearalgebra::CompressedRowSparseMatrix< Real >	Mfiltered

Protected Attributes inherited from sofa::component::linearsolver::direct::SparseLDLSolverImpl< TMatrix, TVector, NoThreadManager >
Data< bool >	d_precomputeSymbolicDecomposition
	If true the solver will reuse the precomputed symbolic decomposition. Otherwise it will recompute it at each step. More...

core::objectmodel::lifecycle::DeprecatedData	d_applyPermutation

Data< int >	d_L_nnz
	Number of non-zero values in the lower triangular matrix of the factorization. The lower, the faster the system is solved. More...

type::vector< Real >	Tmp

type::vector< Real >	Y

type::vector< int >	Lnz

type::vector< int >	Flag

type::vector< int >	Pattern

type::vector< int >	tran_countvec

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE3(AsyncSparseLDLSolver, TMatrix, TVector, TThreadManager), SOFA_TEMPLATE3(SparseLDLSolver, TMatrix, TVector, TThreadManager))

bool	isAsyncSolver () override

void	init () override

void	setSystemMBKMatrix (const core::MechanicalParams *mparams) override

void	solveSystem () override

void	solve (Matrix &M, Vector &x, Vector &b) override

void	invert (TMatrix &M) override

bool	addJMInvJtLocal (TMatrix M, ResMatrixType result, const JMatrixType *J, SReal fact) override

bool	hasUpdatedMatrix () override

void	updateSystemMatrix () override

	~AsyncSparseLDLSolver () override

Public Member Functions inherited from sofa::component::linearsolver::direct::SparseLDLSolver< TMatrix, TVector, NoThreadManager >
	SOFA_CLASS (SOFA_TEMPLATE3(SparseLDLSolver, TMatrix, TVector, NoThreadManager), SOFA_TEMPLATE3(SparseLDLSolverImpl, TMatrix, TVector, NoThreadManager))

void	init () override

void	parse (sofa::core::objectmodel::BaseObjectDescription *arg) override

void	solve (Matrix &M, Vector &x, Vector &b) override

void	invert (Matrix &M) override

bool	doAddJMInvJtLocal (ResMatrixType result, const JMatrixType J, SReal fact, InvertData *data)

bool	addJMInvJtLocal (TMatrix M, ResMatrixType result, const JMatrixType *J, SReal fact) override

MatrixInvertData *	createInvertData () override

Public Member Functions inherited from sofa::component::linearsolver::direct::SparseLDLSolverImpl< TMatrix, TVector, NoThreadManager >
	SOFA_CLASS (SOFA_TEMPLATE3(SparseLDLSolverImpl, TMatrix, TVector, NoThreadManager),)

Public Member Functions inherited from sofa::component::linearsolver::ordering::OrderingMethodAccessor< TBase >
	SOFA_CLASS (OrderingMethodAccessor, TBase)

	OrderingMethodAccessor ()

	~OrderingMethodAccessor () override=default

void	init () override

void	parse (sofa::core::objectmodel::BaseObjectDescription *arg) override

Protected Member Functions
bool	isAsyncFactorizationFinished () const
	Return true if an asynchronous factorization has been launched and is finished. More...

void	launchAsyncFactorization ()

void	asyncFactorization ()

void	swapInvertData ()
	Copy the invert data from the async thread to the main thread. More...

Protected Member Functions inherited from sofa::component::linearsolver::direct::SparseLDLSolver< TMatrix, TVector, NoThreadManager >
	SparseLDLSolver ()

bool	factorize (Matrix &M, InvertData *invertData)

void	showInvalidSystemMessage (const std::string &reason) const

Protected Member Functions inherited from sofa::component::linearsolver::direct::SparseLDLSolverImpl< TMatrix, TVector, NoThreadManager >
	SparseLDLSolverImpl ()

void	solve_cpu (Real x, const Real b, SparseLDLImplInvertData< VecInt, VecReal > *data)

void	LDL_ordering (int n, int nnz, int M_colptr, int M_rowind, Real M_values, int perm, int *invperm)

void	LDL_symbolic (int n, int M_colptr, int M_rowind, int colptr, int perm, int invperm, int Parent)

void	LDL_numeric (int n, int M_colptr, int M_rowind, Real M_values, int colptr, int rowind, Real values, Real D, int perm, int invperm, int Parent)

void	factorize (int n, int M_colptr, int M_rowind, Real M_values, SparseLDLImplInvertData< VecInt, VecReal > data)

Additional Inherited Members
Public Attributes inherited from sofa::component::linearsolver::direct::SparseLDLSolver< TMatrix, TVector, NoThreadManager >
int	numStep

Public Attributes inherited from sofa::component::linearsolver::ordering::OrderingMethodAccessor< TBase >
SingleLink< OrderingMethodAccessor, core::behavior::BaseOrderingMethod, BaseLink::FLAG_STRONGLINK >	l_orderingMethod

Attribute details

◆ m_asyncResult

template<class TMatrix , class TVector , class TThreadManager = NoThreadManager>

std::future<void> sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::m_asyncResult

protected

Result of the asynchronous task.

◆ m_asyncThreadInvertData

template<class TMatrix , class TVector , class TThreadManager = NoThreadManager>

InvertData* sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::m_asyncThreadInvertData { nullptr }

protected

◆ m_hasUpdatedMatrix

template<class TMatrix , class TVector , class TThreadManager = NoThreadManager>

bool sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::m_hasUpdatedMatrix { false }

protected

◆ m_mainThreadInvertData

template<class TMatrix , class TVector , class TThreadManager = NoThreadManager>

InvertData* sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::m_mainThreadInvertData { nullptr }

protected

◆ m_secondInvertData

template<class TMatrix , class TVector , class TThreadManager = NoThreadManager>

InvertData sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::m_secondInvertData

protected

A second instantiation is needed to differentiate the one which is computed asynchronously, and the one which is used to solve the system in the main thread

◆ newInvertDataReady

template<class TMatrix , class TVector , class TThreadManager = NoThreadManager>

std::atomic<bool> sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::newInvertDataReady { false }

protected

◆ waitForAsyncTask

template<class TMatrix , class TVector , class TThreadManager = NoThreadManager>

bool sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::waitForAsyncTask { true }

protected

Constructor details

◆ ~AsyncSparseLDLSolver()

template<class TMatrix , class TVector , class TThreadManager >

sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::~AsyncSparseLDLSolver

override

Function details

◆ addJMInvJtLocal()

template<class TMatrix , class TVector , class TThreadManager >

bool sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::addJMInvJtLocal	(	TMatrix *	M,
		ResMatrixType *	result,
		const JMatrixType *	J,
		SReal	fact
	)

override

◆ asyncFactorization()

template<class TMatrix , class TVector , class TThreadManager >

void sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::asyncFactorization

protected

◆ hasUpdatedMatrix()

template<class TMatrix , class TVector , class TThreadManager >

bool sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::hasUpdatedMatrix

override

◆ init()

template<class TMatrix , class TVector , class TThreadManager >

void sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::init ( void )

override

◆ invert()

template<class TMatrix , class TVector , class TThreadManager >

void sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::invert ( TMatrix & M )

override

◆ isAsyncFactorizationFinished()

template<class TMatrix , class TVector , class TThreadManager >

bool sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::isAsyncFactorizationFinished

protected

Return true if an asynchronous factorization has been launched and is finished.

◆ isAsyncSolver()

template<class TMatrix , class TVector , class TThreadManager = NoThreadManager>

bool sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::isAsyncSolver ( )

inlineoverride

◆ launchAsyncFactorization()

template<class TMatrix , class TVector , class TThreadManager >

void sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::launchAsyncFactorization

protected

◆ setSystemMBKMatrix()

template<class TMatrix , class TVector , class TThreadManager >

void sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::setSystemMBKMatrix ( const core::MechanicalParams * mparams )

override

◆ SOFA_CLASS()

template<class TMatrix , class TVector , class TThreadManager = NoThreadManager>

sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::SOFA_CLASS	(	SOFA_TEMPLATE3(AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >, TMatrix, TVector, TThreadManager)	,
		SOFA_TEMPLATE3(SparseLDLSolver, TMatrix, TVector, TThreadManager)
	)

◆ solve()

template<class TMatrix , class TVector , class TThreadManager >

void sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::solve	(	Matrix &	M,
		Vector &	x,
		Vector &	b
	)

override

◆ solveSystem()

template<class TMatrix , class TVector , class TThreadManager >

void sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::solveSystem

override

◆ swapInvertData()

template<class TMatrix , class TVector , class TThreadManager >

void sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::swapInvertData

protected

Copy the invert data from the async thread to the main thread.

◆ updateSystemMatrix()

template<class TMatrix , class TVector , class TThreadManager >

void sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >::updateSystemMatrix

override

Detailed Description

template<class TMatrix, class TVector, class TThreadManager = NoThreadManager> class sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ m_asyncResult

◆ m_asyncThreadInvertData

◆ m_hasUpdatedMatrix

◆ m_mainThreadInvertData

◆ m_secondInvertData

◆ newInvertDataReady

◆ waitForAsyncTask

Constructor details

◆ ~AsyncSparseLDLSolver()

Function details

◆ addJMInvJtLocal()

◆ asyncFactorization()

◆ hasUpdatedMatrix()

◆ init()

◆ invert()

◆ isAsyncFactorizationFinished()

◆ isAsyncSolver()

◆ launchAsyncFactorization()

◆ setSystemMBKMatrix()

◆ SOFA_CLASS()

◆ solve()

◆ solveSystem()

◆ swapInvertData()

◆ updateSystemMatrix()

template<class TMatrix, class TVector, class TThreadManager = NoThreadManager>
class sofa::component::linearsolver::direct::AsyncSparseLDLSolver< TMatrix, TVector, TThreadManager >