public bool SolveSimple(AD.Term equation, AD.Variable[] args, double[,] limits, double[][] seeds)
{
rResults.Clear();
this.dim = args.Length;
this.limits = limits;
this.ranges = new double[dim];
for (int i = 0; i < dim; i++)
{
this.ranges[i] = (this.limits[i, 1] - this.limits[i, 0]);
}
equation = equation.AggregateConstants();
term = AD.TermUtils.Compile(equation, args);
this.rpropStepWidth = new double[dim];
this.rpropStepConvergenceThreshold = new double[dim];
if (seeds != null)
{
for (int i = 0; i < seeds.Length; i++)
{
RpropResult r = RPropLoopSimple(seeds[i]);
rResults.Add(r);
if (r.finalUtil > 0.75)
{
return(true);
}
}
}
int runs = 2 * dim - (seeds == null?0:seeds.Length);
for (int i = 0; i < runs; i++)
{
RpropResult r = RPropLoopSimple(null);
rResults.Add(r);
if (r.finalUtil > 0.75)
{
return(true);
}
}
int adit = 0;
while (!EvalResults() && adit++ < 20)
{
RpropResult r = RPropLoopSimple(null);
rResults.Add(r);
if (r.finalUtil > 0.75)
{
return(true);
}
}
if (adit > 20)
{
Console.WriteLine("Failed to satisfy heuristic!");
}
return(false);
}
public double[] SolveTest(AD.Term equation, AD.Variable[] args, double[,] limits)
{
#if (GSOLVER_LOG)
InitLog();
#endif
rResults.Clear();
double[] res = null;
this.dim = args.Length;
this.limits = limits;
this.ranges = new double[dim];
for (int i = 0; i < dim; i++)
{
this.ranges[i] = (this.limits[i, 1] - this.limits[i, 0]);
}
term = AD.TermUtils.Compile(equation, args);
this.rpropStepWidth = new double[dim];
this.samplePoint = new double[dim];
this.Runs = 1;
//this.Runs = 0;
this.FEvals = 0;
//int runs = 1000000;
RpropResult rfirst = RPropLoop(null, false, true);
if (rfirst.finalUtil > 0.75)
{
res = rfirst.finalValue;
}
else
{
while (true)
{
this.Runs++;
//RpropResult r = RPropLoopSimple(null);
RpropResult r = RPropLoop(null, false, false);
//Console.WriteLine("Run: {0} Util: {1}",i,r.finalUtil);
/*for(int k=0; k<dim; k++) {
* Console.Write("{0}\t",r.finalValue[k]);
* }
* Console.WriteLine();*/
if (r.finalUtil > 0.75)
{
res = r.finalValue;
break;
}
}
}
#if (GSOLVER_LOG)
CloseLog();
#endif
return(res);
}
public double[] SolveTest(AD.Term equation, AD.Variable[] args, double[,] limits, int maxRuns, out bool found)
{
#if (GSOLVER_LOG)
InitLog();
#endif
found = false;
rResults.Clear();
double[] res = null;
this.dim = args.Length;
this.limits = limits;
this.ranges = new double[dim];
for (int i = 0; i < dim; i++)
{
this.ranges[i] = (this.limits[i, 1] - this.limits[i, 0]);
}
term = AD.TermUtils.Compile(equation, args);
this.rpropStepWidth = new double[dim];
this.rpropStepConvergenceThreshold = new double[dim];
this.Runs = 0;
this.FEvals = 0;
while (this.Runs < maxRuns)
{
this.Runs++;
//RpropResult r = RPropLoopSimple(null);
RpropResult r = RPropLoop(null, false);
//Console.WriteLine("Run: {0} Util: {1}",i,r.finalUtil);
/*for(int k=0; k<dim; k++) {
* Console.Write("{0}\t",r.finalValue[k]);
* }
* Console.WriteLine();*/
if (r.finalUtil > 0.75)
{
res = r.finalValue;
found = true;
break;
}
}
#if (GSOLVER_LOG)
CloseLog();
#endif
return(res);
}
public double[] Solve(AD.Term equation, AD.Variable[] args, double[,] limits, double[][] seeds, double sufficientUtility, out double util)
{
this.FEvals = 0;
this.Runs = 0;
util = 0;
this.utilityThreshold = sufficientUtility;
#if (GSOLVER_LOG)
InitLog();
#endif
rResults.Clear();
ulong begin = RosCS.RosSharp.Now();
this.dim = args.Length;
this.limits = limits;
this.ranges = new double[dim];
for (int i = 0; i < dim; i++)
{
this.ranges[i] = (this.limits[i, 1] - this.limits[i, 0]);
}
#if AGGREGATE_CONSTANTS
equation = equation.AggregateConstants();
#endif
term = AD.TermUtils.Compile(equation, args);
AD.ConstraintUtility cu = (AD.ConstraintUtility)equation;
bool utilIsConstant = (cu.Utility is AD.Constant);
if (utilIsConstant)
{
this.utilityThreshold = 0.75;
}
bool constraintIsConstant = (cu.Constraint is AD.Constant);
if (constraintIsConstant)
{
if (((AD.Constant)cu.Constraint).Value < 0.25)
{
util = ((AD.Constant)cu.Constraint).Value;
double[] ret = new double[dim];
for (int i = 0; i < dim; i++)
{
ret[i] = this.ranges[i] / 2.0 + this.limits[i, 0];
}
return(ret);
}
}
//Optimize given seeds
this.rpropStepWidth = new double[dim];
this.rpropStepConvergenceThreshold = new double[dim];
if (seeds != null)
{
this.Runs++;
//Run with prefered cached seed
RpropResult rpfirst = RPropLoop(seeds[0], true);
if (rpfirst.finalUtil > this.utilityThreshold)
{
util = rpfirst.finalUtil;
//Console.WriteLine("FEvals: {0}",this.FEvals);
return(rpfirst.finalValue);
}
rResults.Add(rpfirst);
//run with seeds of all other agends
for (int i = 1; i < seeds.Length; i++)
{
if (begin + this.maxSolveTime < RosCS.RosSharp.Now() || this.FEvals > this.MaxFEvals)
{
break; //do not check any further seeds
}
this.Runs++;
RpropResult rp = RPropLoop(seeds[i], false);
if (rp.finalUtil > this.utilityThreshold)
{
util = rp.finalUtil;
//Console.WriteLine("FEvals: {0}",this.FEvals);
return(rp.finalValue);
}
rResults.Add(rp);
}
}
//Here: Ignore all constraints search optimum
if (begin + this.maxSolveTime > RosCS.RosSharp.Now() && this.FEvals < this.MaxFEvals)
{
//if time allows, do an unconstrained run
if (!constraintIsConstant && !utilIsConstant && seedWithUtilOptimum)
{
AD.ICompiledTerm curProb = term;
term = AD.TermUtils.Compile(((AD.ConstraintUtility)equation).Utility, args);
this.Runs++;
double[] utilitySeed = RPropLoop(null).finalValue;
term = curProb;
//Take result and search with constraints
RpropResult ru = RPropLoop(utilitySeed, false);
/*if (ru.finalUtil > this.utilityThreshold) {
* util = ru.finalUtil;
* return ru.finalValue;
* }*/
rResults.Add(ru);
}
}
do //Do runs until termination criteria, running out of time, or too many function evaluations
{
this.Runs++;
RpropResult rp = RPropLoop(null, false);
if (rp.finalUtil > this.utilityThreshold)
{
util = rp.finalUtil;
//Console.WriteLine("FEvals: {0}",this.FEvals);
return(rp.finalValue);
}
rResults.Add(rp);
} while(begin + this.maxSolveTime > RosCS.RosSharp.Now() && this.FEvals < this.MaxFEvals);
//return best result
int resIdx = 0;
RpropResult res = rResults[0];
for (int i = 1; i < rResults.Count; i++)
{
if (Double.IsNaN(res.finalUtil) || rResults[i].finalUtil > res.finalUtil)
{
if (resIdx == 0 && seeds != null && !Double.IsNaN(res.finalUtil))
{
if (rResults[i].finalUtil - res.finalUtil > utilitySignificanceThreshold && rResults[i].finalUtil > 0.75)
{
res = rResults[i];
resIdx = i;
}
}
else
{
res = rResults[i];
resIdx = i;
}
}
}
//Console.WriteLine("ResultIndex: {0} Delta {1}",resIdx,res.finalUtil-rResults[0].finalUtil);
#if (GSOLVER_LOG)
CloseLog();
#endif
// Console.Write("Found: ");
// for(int i=0; i<dim; i++) {
// Console.Write("{0}\t",res.finalValue[i]);
// }
// Console.WriteLine();
//
//Console.WriteLine("Runs: {0} FEvals: {1}",this.Runs,this.FEvals);
util = res.finalUtil;
return(res.finalValue);
}
public double[] Solve(AD.Term equation, AD.Variable[] args, double[,] limits, double[][] seeds, out double util)
{
//this.FEvals = 0;
util = 0;
#if (GSOLVER_LOG)
InitLog();
#endif
rResults.Clear();
this.dim = args.Length;
this.limits = limits;
this.ranges = new double[dim];
for (int i = 0; i < dim; i++)
{
this.ranges[i] = (this.limits[i, 1] - this.limits[i, 0]);
}
equation = equation.AggregateConstants();
term = AD.TermUtils.Compile(equation, args);
AD.ConstraintUtility cu = (AD.ConstraintUtility)equation;
bool utilIsConstant = (cu.Utility is AD.Constant);
bool constraintIsConstant = (cu.Constraint is AD.Constant);
if (constraintIsConstant)
{
if (((AD.Constant)cu.Constraint).Value < 0.25)
{
util = ((AD.Constant)cu.Constraint).Value;
double[] ret = new double[dim];
for (int i = 0; i < dim; i++)
{
ret[i] = this.ranges[i] / 2.0 + this.limits[i, 0];
}
return(ret);
}
}
this.rpropStepWidth = new double[dim];
this.samplePoint = new double[dim];
if (seeds != null)
{
RpropResult rpfirst = RPropLoop(seeds[0], true, false);
if (utilIsConstant && rpfirst.finalUtil > 0.75)
{
util = rpfirst.finalUtil;
//Console.WriteLine("FEvals: {0}",this.FEvals);
return(rpfirst.finalValue);
}
rResults.Add(rpfirst);
for (int i = 1; i < seeds.Length; i++)
{
RpropResult rp = RPropLoop(seeds[i], false, false);
if (utilIsConstant && rp.finalUtil > 0.75)
{
util = rp.finalUtil;
//Console.WriteLine("FEvals: {0}",this.FEvals);
return(rp.finalValue);
}
rResults.Add(rp);
}
}
if (!constraintIsConstant && !utilIsConstant && seedWithUtilOptimum)
{
AD.ICompiledTerm curProb = term;
term = AD.TermUtils.Compile(((AD.ConstraintUtility)equation).Utility, args);
double[] utilitySeed = RPropLoop(null).finalValue;
/*Console.WriteLine("Unconstraint Seed:");
* Console.Write("S: ");
* foreach(double d in utilitySeed) Console.Write("{0} ",d);
* Console.WriteLine();
*/
term = curProb;
rResults.Add(RPropLoop(utilitySeed, false, false));
}
int runs = Math.Max(3, 1 * dim - (seeds == null?0:seeds.Length));
//runs = 10;
RpropResult rpQS = RPropLoop(null, false, true);
if (utilIsConstant && rpQS.finalUtil > 0.75)
{
util = rpQS.finalUtil;
return(rpQS.finalValue);
}
rResults.Add(rpQS);
for (int i = 1; i < runs; i++)
{
RpropResult rp = RPropLoop(null, false, false);
if (utilIsConstant && rp.finalUtil > 0.75)
{
util = rp.finalUtil;
//Console.WriteLine("FEvals: {0}",this.FEvals);
return(rp.finalValue);
}
rResults.Add(rp);
}
int resIdx = 0;
RpropResult res = rResults[0];
for (int i = 1; i < rResults.Count; i++)
{
if (Double.IsNaN(res.finalUtil) || rResults[i].finalUtil > res.finalUtil)
{
if (resIdx == 0 && seeds != null && !Double.IsNaN(res.finalUtil))
{
if (rResults[i].finalUtil - res.finalUtil > utilitySignificanceThreshold && rResults[i].finalUtil > 0.75)
{
res = rResults[i];
resIdx = i;
}
}
else
{
res = rResults[i];
resIdx = i;
}
}
}
//Console.WriteLine("ResultIndex: {0} Delta {1}",resIdx,res.finalUtil-rResults[0].finalUtil);
#if (GSOLVER_LOG)
CloseLog();
#endif
// Console.Write("Found: ");
// for(int i=0; i<dim; i++) {
// Console.Write("{0}\t",res.finalValue[i]);
// }
// Console.WriteLine();
//
//Console.WriteLine("FEvals: {0}",this.FEvals);
util = res.finalUtil;
return(res.finalValue);
}
protected RpropResult RPropOptimizeFeasible(List <CNSAT.Var> constraints, AD.Term ut, AD.Variable[] args, double[] seed, bool precise)
{
//Compiled Term zusammenbauen
AD.Term constr = AD.Term.True;
foreach (CNSAT.Var v in constraints)
{
if (v.Assignment == Alica.Reasoner.CNSAT.Assignment.True)
{
constr &= v.Term;
}
else
{
constr &= ConstraintBuilder.Not(v.Term);
}
}
AD.ConstraintUtility cu = new AD.ConstraintUtility(constr, ut);
AD.ICompiledTerm term = AD.TermUtils.Compile(cu, args);
Tuple <double[], double> tup;
//fertig zusammengebaut
runCount++;
InitialStepSize();
double[] curGradient;
RpropResult ret = new RpropResult();
// curGradient = InitialPoint(constraints, ret);
if (seed != null)
{
curGradient = InitialPointFromSeed(constraints, ret, seed);
}
else
{
curGradient = InitialPoint(constraints, ret);
}
double curUtil = ret.initialUtil;
double[] formerGradient = new double[dim];
double[] curValue = new double[dim];
//Tuple<double[],double> tup;
Buffer.BlockCopy(ret.initialValue, 0, curValue, 0, sizeof(double) * dim);
formerGradient = curGradient;
int itcounter = 0;
int badcounter = 0;
#if (GSOLVER_LOG)
Log(curUtil, curValue);
#endif
int maxIter = 60;
int maxBad = 30;
double minStep = 1E-11;
if (precise)
{
maxIter = 120; //110
maxBad = 60; //60
minStep = 1E-15; //15
}
int convergendDims = 0;
while (itcounter++ < maxIter && badcounter < maxBad)
{
convergendDims = 0;
for (int i = 0; i < dim; i++)
{
if (curGradient[i] * formerGradient[i] > 0)
{
rpropStepWidth[i] *= 1.3;
}
else if (curGradient[i] * formerGradient[i] < 0)
{
rpropStepWidth[i] *= 0.5;
}
rpropStepWidth[i] = Math.Max(minStep, rpropStepWidth[i]);
//rpropStepWidth[i] = Math.Max(0.000001,rpropStepWidth[i]);
if (curGradient[i] > 0)
{
curValue[i] += rpropStepWidth[i];
}
else if (curGradient[i] < 0)
{
curValue[i] -= rpropStepWidth[i];
}
if (curValue[i] > limits[i, 1])
{
curValue[i] = limits[i, 1];
}
else if (curValue[i] < limits[i, 0])
{
curValue[i] = limits[i, 0];
}
//Console.Write("{0}\t",curValue[i]);
if (rpropStepWidth[i] < rpropStepConvergenceThreshold[i])
{
++convergendDims;
}
}
//Abort if all dimensions are converged
if (!precise && convergendDims >= dim)
{
return(ret);
}
this.fevalsCount++;
formerGradient = curGradient;
tup = term.Differentiate(curValue);
bool allZero = true;
for (int i = 0; i < dim; i++)
{
if (Double.IsNaN(tup.Item1[i]))
{
ret.aborted = false; //true; //HACK!
#if (GSOLVER_LOG)
LogStep();
#endif
return(ret);
}
allZero &= (tup.Item1[i] == 0);
}
curUtil = tup.Item2;
formerGradient = curGradient;
curGradient = tup.Item1;
#if (GSOLVER_LOG)
Log(curUtil, curValue);
#endif
//Console.WriteLine("CurUtil: {0} Final {1}",curUtil,ret.finalUtil);
if (curUtil > ret.finalUtil)
{
badcounter = 0; //Math.Max(0,badcounter-1);
ret.finalUtil = curUtil;
Buffer.BlockCopy(curValue, 0, ret.finalValue, 0, sizeof(double) * dim);
//ret.finalValue = curValue;
if (curUtil > 0.75)
{
return(ret);
}
}
else
{
badcounter++;
}
if (allZero)
{
ret.aborted = false;
#if (GSOLVER_LOG)
LogStep();
#endif
return(ret);
}
}
#if (GSOLVER_LOG)
LogStep();
#endif
ret.aborted = false;
return(ret);
}
