1 | /*! |
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2 | * @file lin_alg.h |
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3 | * Definition of some important linear algebra formulas |
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4 | |
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5 | compute the eigenpairs (eigenvalues and eigenvectors) of a real symmetric matrix "A" by the Jacobi method |
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6 | */ |
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7 | |
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8 | |
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9 | |
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10 | /************************************************************ |
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11 | * This subroutine computes all eigenvalues and eigenvectors * |
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12 | * of a real symmetric square matrix A(N,N). On output, ele- * |
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13 | * ments of A above the diagonal are destroyed. D(N) returns * |
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14 | * the eigenvalues of matrix A. V(N,N) contains, on output, * |
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15 | * the eigenvectors of A by columns. THe normalization to * |
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16 | * unity is made by main program before printing results. * |
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17 | * NROT returns the number of Jacobi matrix rotations which * |
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18 | * were required. * |
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19 | * --------------------------------------------------------- * |
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20 | * Ref.:"NUMERICAL RECIPES IN FORTRAN, Cambridge University * |
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21 | * Press, 1986, chap. 11, pages 346-348". * |
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22 | * * |
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23 | * C++ version by J-P Moreau, Paris. * |
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24 | ************************************************************/ |
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25 | void JacobI(float **A, float *D, float **V, int *NROT) { |
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26 | |
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27 | int N = 3; |
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28 | |
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29 | float *B, *Z; |
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30 | double c=0.0f, g=0.0f, h=0.0f, s=0.0f, sm=0.0f, t=0.0f, tau=0.0f, theta=0.0f, tresh=0.0f; |
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31 | int i=0,j=0,ip=0,iq=0; |
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32 | |
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33 | //allocate vectors B, Z |
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34 | |
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35 | //B = (float *) calloc(100, 32); |
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36 | //Z = (float *) calloc(100, 32); |
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37 | B = new float[N+1]; |
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38 | Z = new float[N+1]; |
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39 | |
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40 | // initialize V to identity matrix |
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41 | for( ip = 0; ip < N; ip++) { |
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42 | for( iq = 0; iq < N; iq++) |
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43 | V[ip][iq] = 0.0f; |
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44 | V[ip][ip] = 1.0f; |
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45 | } |
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46 | // initialize B,D to the diagonal of A |
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47 | for( ip = 0; ip < N; ip++) { |
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48 | B[ip] = A[ip][ip]; |
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49 | D[ip] = B[ip]; |
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50 | Z[ip] = 0.0f; |
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51 | } |
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52 | |
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53 | *NROT = 0; |
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54 | // make maximaly 50 iterations |
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55 | for( i = 1; i <= 50; i++) { |
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56 | sm = 0; |
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57 | |
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58 | for( ip = 0; ip < 2; ip++) //sum off-diagonal elements |
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59 | for( iq = ip + 1; iq < 3; iq++) |
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60 | sm=sm+fabs(A[ip][iq]); |
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61 | |
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62 | if(sm == 0) |
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63 | { |
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64 | //free(B); |
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65 | //free(Z); |
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66 | delete[] B; |
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67 | delete[] Z; |
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68 | return; //normal return |
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69 | } |
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70 | tresh=0.2*sm*sm; |
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71 | for (ip=0; ip<2; ip++) { |
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72 | for (iq=ip+1; iq<3; iq++) { |
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73 | g=100*fabs(A[ip][iq]); |
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74 | // after 4 sweeps, skip the rotation if the off-diagonal element is small |
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75 | if ((i > 4) && (fabs(D[ip])+g == fabs(D[ip])) && (fabs(D[iq])+g == fabs(D[iq]))) |
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76 | A[ip][iq]=0; |
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77 | else if (fabs(A[ip][iq]) > tresh) { |
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78 | h=D[iq]-D[ip]; |
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79 | if (fabs(h)+g == fabs(h)) |
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80 | t=A[ip][iq]/h; |
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81 | else { |
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82 | theta=0.5*h/A[ip][iq]; |
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83 | t=1/(fabs(theta)+sqrt(1.0+theta*theta)); |
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84 | if (theta < 0) t=-t; |
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85 | } |
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86 | c=1.0/sqrt(1.0+t*t); |
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87 | s=t*c; |
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88 | tau=s/(1.0+c); |
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89 | h=t*A[ip][iq]; |
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90 | Z[ip] -= h; |
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91 | Z[iq] += h; |
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92 | D[ip] -= h; |
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93 | D[iq] += h; |
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94 | A[ip][iq]=0; |
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95 | for (j=0; j<ip; j++) { |
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96 | g=A[j][ip]; |
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97 | h=A[j][iq]; |
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98 | A[j][ip] = g-s*(h+g*tau); |
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99 | A[j][iq] = h+s*(g-h*tau); |
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100 | } |
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101 | for (j=ip+1; j<iq; j++) { |
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102 | g=A[ip][j]; |
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103 | h=A[j][iq]; |
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104 | A[ip][j] = g-s*(h+g*tau); |
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105 | A[j][iq] = h+s*(g-h*tau); |
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106 | } |
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107 | for (j=iq+1; j<=N; j++) { |
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108 | g=A[ip][j]; |
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109 | h=A[iq][j]; |
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110 | A[ip][j] = g-s*(h+g*tau); |
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111 | A[iq][j] = h+s*(g-h*tau); |
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112 | } |
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113 | for (j=0; j<3; j++) { |
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114 | g=V[j][ip]; |
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115 | h=V[j][iq]; |
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116 | V[j][ip] = g-s*(h+g*tau); |
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117 | V[j][iq] = h+s*(g-h*tau); |
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118 | } |
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119 | *NROT=*NROT+1; |
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120 | } //end ((i.gt.4)...else if |
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121 | } // main iq loop |
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122 | } // main ip loop |
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123 | for (ip=0; ip<3; ip++) { |
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124 | B[ip] += Z[ip]; |
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125 | D[ip]=B[ip]; |
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126 | Z[ip]=0; |
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127 | } |
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128 | } //end of main i loop |
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129 | // printf("\n 50 iterations !\n"); |
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130 | //free(B); |
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131 | //free(Z); |
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132 | delete[] B; |
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133 | delete[] Z; |
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134 | return; //too many iterations |
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135 | } |
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136 | |
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137 | |
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138 | |
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139 | |
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140 | |
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141 | #include "abstract_model.h" |
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142 | |
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143 | #include <stdio.h> |
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144 | #include <math.h> |
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145 | |
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146 | #define NDIM 3 |
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147 | |
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148 | |
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149 | typedef float MatrixX[3][3]; |
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150 | |
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151 | // |
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152 | // class "EVJacobi" for computing the eigenpairs |
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153 | // (members) |
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154 | // ndim int ... dimension |
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155 | // "ndim" must satisfy 1 < ndim < NDIM |
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156 | // ("NDIM" is given above). |
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157 | // a double [NDIM][NDIM] ... matrix A |
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158 | // aa double ... the square root of |
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159 | // (1/2) x (the sum of the off-diagonal elements squared) |
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160 | // ev double [NDIM] ... eigenvalues |
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161 | // evec double [NDIM][NDIM] ... eigenvectors |
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162 | // evec[i][k], i=1,2,...,ndim are the elements of the eigenvector |
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163 | // corresponding to the k-th eigenvalue ev[k] |
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164 | // vec double [NDIM][NDIM] ... the 2-dimensional array where the matrix elements are stored |
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165 | // lSort int ... |
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166 | // If lSort = 1, sort the eigenvalues d(i) in the descending order, i.e., |
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167 | // ev[1] >= ev[2] >= ... >= ev[ndim], and |
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168 | // if lSort = 0, in the ascending order, i.e., |
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169 | // ev[1] <= ev[2] <= ... <= ev[ndim]. |
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170 | // lMatSize int ... If 1 < ndim < NDIM, lMatSize = 1 |
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171 | // otherwise, lMatSize = 0 |
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172 | // p int [NDIM] ... index vector for sorting the eigenvalues |
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173 | // (public member functions) |
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174 | // setMatrix void ... give the matrix A |
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175 | // getEigenValue void ... get the eigenvalues |
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176 | // getEigenVector void ... get the eigenvectors |
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177 | // sortEigenpair void ... sort the eigenpairs |
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178 | // (private member functions) |
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179 | // ComputeEigenpair void ... compute the eigenpairs |
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180 | // matrixUpdate void ... each step of the Jacobi method, i.e., |
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181 | // update of the matrix A by Givens' transform. |
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182 | // getP void ... get the index vector p, i.e., sort the eigenvalues. |
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183 | // printMatrix void ... print the elements of the matrix A. |
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184 | // |
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185 | |
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186 | class EVJacobi |
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187 | { |
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188 | public: |
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189 | void setMatrix(int, double [][NDIM], int, int); |
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190 | void getEigenValue(double []); |
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191 | void getEigenVector(double [][NDIM]); |
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192 | void sortEigenpair(int); |
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193 | |
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194 | private: |
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195 | void ComputeEigenpair(int); |
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196 | void matrixUpdate(); |
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197 | void getP(); |
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198 | void printMatrix(); |
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199 | |
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200 | private: |
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201 | double a[NDIM][NDIM], aa, ev[NDIM], evec[NDIM][NDIM], vec[NDIM][NDIM]; |
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202 | int ndim, lSort, p[NDIM], lMatSize; |
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203 | }; |
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204 | |
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205 | //------------public member function of the class "EVJacobi"------------------------------ |
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206 | // |
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207 | // give the dimension "ndim" and the matrix "A" and compute the eigenpairs |
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208 | // (input) |
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209 | // ndim0 int ... dimension |
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210 | // a0 double[][NDIM] matrix A |
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211 | // lSort0 int ... lSort |
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212 | // If lSort = 1, sort the eigenvalues d(i) in the descending order, i.e., |
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213 | // ev[1] >= ev[2] >= ... >= ev[ndim], and |
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214 | // if lSort = 0, in the ascending order, i.e., |
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215 | // ev[1] <= ev[2] <= ... <= ev[ndim]. |
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216 | // l_print int ... |
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217 | // If l_print = 1, print the matrices during the iterations. |
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218 | // |
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219 | void EVJacobi::setMatrix(int ndim0, double a0[][NDIM], int lSort0, int l_print) |
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220 | { |
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221 | ndim = ndim0; |
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222 | if (ndim < NDIM && ndim > 1) |
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223 | { |
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224 | lMatSize = 1; |
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225 | lSort = lSort0; |
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226 | for (int i=1; i<=ndim; ++i) |
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227 | for (int j=1; j<=ndim; ++j) |
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228 | a[i][j] = a0[i][j]; |
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229 | // |
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230 | aa = 0.0; |
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231 | for (int i=1; i<=ndim; ++i) |
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232 | for (int j=1; j<=i-1; ++j) |
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233 | aa += a[i][j]*a[i][j]; |
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234 | aa = sqrt(aa); |
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235 | // |
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236 | ComputeEigenpair(l_print); |
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237 | getP(); |
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238 | } |
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239 | else |
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240 | { |
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241 | lMatSize = 0; |
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242 | printf("ndim = %d\n", ndim); |
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243 | printf("ndim must satisfy 1 < ndim < NDIM=%d\n", NDIM); |
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244 | } |
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245 | } |
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246 | // |
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247 | // get the eigenvalues |
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248 | // (input) |
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249 | // ev0[NDIM] double ... the array where the eigenvalues are written |
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250 | void EVJacobi::getEigenValue(double ev0[]) |
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251 | { |
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252 | for (int k=1; k<=ndim; ++k) ev0[k] = ev[p[k]]; |
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253 | } |
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254 | // |
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255 | // get the eigenvectors |
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256 | // (input) |
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257 | // evec0[NDIM][NDIM] double ... the two-dimensional array |
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258 | // where the eigenvectors are written in such a way that |
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259 | // evec0[k][i], i=1,2,...,ndim are the elements of the eigenvector |
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260 | // corresponding to the k-th eigenvalue ev0[k] |
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261 | // |
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262 | void EVJacobi::getEigenVector(double evec0[][NDIM]) |
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263 | { |
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264 | for (int k=1; k<=ndim; ++k) |
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265 | for (int i=1; i<=ndim; ++i) |
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266 | evec0[k][i] = evec[p[k]][i]; |
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267 | } |
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268 | // |
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269 | // sort the eigenpairs |
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270 | // (input) |
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271 | // lSort0 int |
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272 | // If lSort0 = 1, the eigenvalues are sorted in the descending order, i.e., |
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273 | // ev0[1] >= ev0[2] >= ... >= ev0[ndim] |
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274 | // and if lSort0 = 0, in the ascending order, i.e., |
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275 | // ev0[1] <= ev0[2] <= ... <= ev0[ndim] |
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276 | // |
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277 | void EVJacobi::sortEigenpair(int lSort0) |
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278 | { |
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279 | lSort = lSort0; |
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280 | getP(); |
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281 | } |
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282 | //-------private member function of the class "EVJacobi"----- |
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283 | // |
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284 | // compute the eigenpairs |
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285 | // (input) |
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286 | // l_print int |
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287 | // If l_print = 1, print the matrices during the iterations. |
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288 | // |
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289 | void EVJacobi::ComputeEigenpair(int l_print) |
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290 | { |
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291 | if (lMatSize==1) |
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292 | { |
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293 | if (l_print==1) |
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294 | { |
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295 | printf("step %d\n", 0); |
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296 | printMatrix(); |
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297 | printf("\n"); |
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298 | } |
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299 | // |
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300 | double eps = 1.0e-15, epsa = eps * aa; |
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301 | int kend = 1000, l_conv = 0; |
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302 | // |
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303 | for (int i=1; i<=ndim; ++i) |
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304 | for (int j=1; j<=ndim; ++j) |
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305 | vec[i][j] = 0.0; |
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306 | for (int i=1; i<=ndim; ++i) |
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307 | vec[i][i] = 1.0; |
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308 | // |
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309 | for (int k=1; k<=kend; ++k) |
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310 | { |
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311 | matrixUpdate(); |
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312 | double a1 = 0.0; |
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313 | for (int i=1; i<=ndim; ++i) |
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314 | for (int j=1; j<=i-1; ++j) |
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315 | a1 += a[i][j] * a[i][j]; |
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316 | a1 = sqrt(a1); |
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317 | if (a1 < epsa) |
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318 | { |
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319 | if (l_print==1) |
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320 | { |
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321 | printf("converged at step %d\n", k); |
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322 | printMatrix(); |
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323 | printf("\n"); |
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324 | } |
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325 | l_conv = 1; |
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326 | break; |
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327 | } |
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328 | if (l_print==1) |
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329 | if (k%10==0) |
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330 | { |
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331 | printf("step %d\n", k); |
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332 | printMatrix(); |
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333 | printf("\n"); |
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334 | } |
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335 | } |
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336 | // |
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337 | if (l_conv == 0) printf("Jacobi method not converged.\n"); |
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338 | for (int k=1; k<=ndim; ++k) |
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339 | { |
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340 | ev[k] = a[k][k]; |
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341 | for (int i=1; i<=ndim; ++i) evec[k][i] = vec[i][k]; |
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342 | } |
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343 | } |
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344 | } |
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345 | // |
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346 | void EVJacobi::printMatrix() |
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347 | { |
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348 | for (int i=1; i<=ndim; ++i) |
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349 | { |
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350 | for (int j=1; j<=ndim; ++j) printf("%8.1e ",a[i][j]); |
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351 | printf("\n"); |
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352 | } |
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353 | } |
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354 | // |
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355 | void EVJacobi::matrixUpdate() |
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356 | { |
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357 | double a_new[NDIM][NDIM], vec_new[NDIM][NDIM]; |
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358 | // |
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359 | int p=2, q=1; |
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360 | double amax = fabs(a[p][q]); |
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361 | for (int i=3; i<=ndim; ++i) |
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362 | for (int j=1; j<=i-1; ++j) |
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363 | if (fabs(a[i][j]) > amax) |
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364 | { |
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365 | p = i; |
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366 | q = j; |
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367 | amax = fabs(a[i][j]); |
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368 | } |
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369 | // |
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370 | // Givens' rotation by Rutishauser's rule |
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371 | // |
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372 | double z, t, c, s, u; |
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373 | z = (a[q][q] - a[p][p]) / (2.0 * a[p][q]); |
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374 | t = fabs(z) + sqrt(1.0 + z*z); |
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375 | if (z < 0.0) t = - t; |
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376 | t = 1.0 / t; |
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377 | c = 1.0 / sqrt(1.0 + t*t); |
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378 | s = c * t; |
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379 | u = s / (1.0 + c); |
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380 | // |
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381 | for (int i=1; i<=ndim; ++i) |
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382 | for (int j=1; j<=ndim; ++j) |
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383 | a_new[i][j] = a[i][j]; |
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384 | // |
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385 | a_new[p][p] = a[p][p] - t * a[p][q]; |
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386 | a_new[q][q] = a[q][q] + t * a[p][q]; |
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387 | a_new[p][q] = 0.0; |
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388 | a_new[q][p] = 0.0; |
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389 | for (int j=1; j<=ndim; ++j) |
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390 | if (j!=p && j!=q) |
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391 | { |
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392 | a_new[p][j] = a[p][j] - s * (a[q][j] + u * a[p][j]); |
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393 | a_new[j][p] = a_new[p][j]; |
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394 | a_new[q][j] = a[q][j] + s * (a[p][j] - u * a[q][j]); |
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395 | a_new[j][q] = a_new[q][j]; |
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396 | } |
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397 | // |
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398 | for (int i=1; i<=ndim; ++i) |
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399 | { |
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400 | vec_new[i][p] = vec[i][p] * c - vec[i][q] * s; |
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401 | vec_new[i][q] = vec[i][p] * s + vec[i][q] * c; |
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402 | for (int j=1; j<=ndim; ++j) |
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403 | if (j!=p && j!=q) vec_new[i][j] = vec[i][j]; |
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404 | } |
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405 | // |
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406 | for (int i=1; i<=ndim; ++i) |
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407 | for (int j=1; j<=ndim; ++j) |
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408 | { |
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409 | a[i][j] = a_new[i][j]; |
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410 | vec[i][j] = vec_new[i][j]; |
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411 | } |
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412 | } |
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413 | // |
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414 | // sort the eigenpairs |
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415 | // If l_print=1, sort the eigenvalues in the descending order, i.e., |
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416 | // ev[1] >= ev[2] >= ... >= ev[ndim], and |
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417 | // if l_print=0, in the ascending order, i.e., |
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418 | // ev[1] <= ev[2] <= ... <= ev[ndim]. |
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419 | // |
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420 | void EVJacobi::getP() |
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421 | { |
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422 | for (int i=1; i<=ndim; ++i) p[i] = i; |
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423 | // |
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424 | if (lSort==1) |
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425 | { |
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426 | for (int k=1; k<=ndim; ++k) |
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427 | { |
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428 | double emax = ev[p[k]]; |
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429 | for (int i=k+1; i<=ndim; ++i) |
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430 | { |
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431 | if (emax < ev[p[i]]) |
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432 | { |
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433 | emax = ev[p[i]]; |
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434 | int pp = p[k]; |
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435 | p[k] = p[i]; |
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436 | p[i] = pp; |
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437 | } |
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438 | } |
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439 | } |
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440 | } |
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441 | if (lSort==0) |
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442 | { |
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443 | for (int k=1; k<=ndim; ++k) |
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444 | { |
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445 | double emin = ev[p[k]]; |
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446 | for (int i=k+1; i<=ndim; ++i) |
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447 | { |
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448 | if (emin > ev[p[i]]) |
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449 | { |
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450 | emin = ev[p[i]]; |
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451 | int pp = p[k]; |
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452 | p[k] = p[i]; |
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453 | p[i] = pp; |
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454 | } |
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455 | } |
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456 | } |
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457 | } |
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458 | } |
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459 | |
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460 | |
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461 | |
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462 | |
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463 | |
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464 | |
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465 | |
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466 | // void jacobi(Matrix A, int n, sVec3D d, Matrix V, int *nRot) |
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467 | // { |
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468 | // sVec3D B, Z; |
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469 | // double c, g, h, s, sm, t, tau, theta, tresh; |
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470 | // int i, j, ip, iq; |
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471 | // |
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472 | // void *vmblock1 = NULL; |
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473 | // |
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474 | // //allocate vectors B, Z |
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475 | // vmblock1 = vminit(); |
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476 | // //B = (float *) vmalloc(vmblock1, VEKTOR, 100, 0); |
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477 | // //Z = (float *) vmalloc(vmblock1, VEKTOR, 100, 0); |
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478 | // |
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479 | // //initialize V to identity matrix |
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480 | // for(int i = 1; i <= n; i++) |
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481 | // { |
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482 | // for(int j = 1; j <= n; j++) |
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483 | // V[i][j] = 0; |
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484 | // V[i][i] = 1; |
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485 | // } |
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486 | // |
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487 | // for(int i = 1; i <= n; i++) |
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488 | // { |
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489 | // B[i] = A[i][i]; |
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490 | // D[i] = B[i]; |
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491 | // Z[i] = 0; |
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492 | // } |
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493 | // |
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494 | // *nRot = 0; |
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495 | // for(int i = 1; i<=50; i++) |
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496 | // { |
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497 | // sm = 0; |
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498 | // for(int k = 1; k < n; k++) //sum off-diagonal elements |
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499 | // for (int l = k + 1; l <= n; k++) |
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500 | // sm = sm + fabs(A[k][l]); |
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501 | // if ( sm == 0 ) |
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502 | // { |
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503 | // //vmfree(vmblock1); |
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504 | // return; //normal return |
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505 | // } |
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506 | // if (i < 4) |
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507 | // tresh = 0.2 * sm * sm; |
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508 | // else |
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509 | // tresh = 0; |
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510 | // for(int k = 1; k < n; k++) |
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511 | // { |
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512 | // for (iq=ip+1; iq<=N; iq++) { |
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513 | // g=100*fabs(A[ip][iq]); |
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514 | // // after 4 sweeps, skip the rotation if the off-diagonal element is small |
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515 | // if ((i > 4) && (fabs(D[ip])+g == fabs(D[ip])) && (fabs(D[iq])+g == fabs(D[iq]))) |
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516 | // A[ip][iq]=0; |
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517 | // else if (fabs(A[ip][iq]) > tresh) { |
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518 | // h=D[iq]-D[ip]; |
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519 | // if (fabs(h)+g == fabs(h)) |
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520 | // t=A[ip][iq]/h; |
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521 | // else { |
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522 | // theta=0.5*h/A[ip][iq]; |
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523 | // t=1/(fabs(theta)+sqrt(1.0+theta*theta)); |
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524 | // if (theta < 0) t=-t; |
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525 | // } |
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526 | // c=1.0/sqrt(1.0+t*t); |
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527 | // s=t*c; |
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528 | // tau=s/(1.0+c); |
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529 | // h=t*A[ip][iq]; |
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530 | // Z[ip] -= h; |
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531 | // Z[iq] += h; |
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532 | // D[ip] -= h; |
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533 | // D[iq] += h; |
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534 | // A[ip][iq]=0; |
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535 | // for (j=1; j<ip; j++) { |
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536 | // g=A[j][ip]; |
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537 | // h=A[j][iq]; |
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538 | // A[j][ip] = g-s*(h+g*tau); |
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539 | // A[j][iq] = h+s*(g-h*tau); |
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540 | // } |
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541 | // for (j=ip+1; j<iq; j++) { |
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542 | // g=A[ip][j]; |
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543 | // h=A[j][iq]; |
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544 | // A[ip][j] = g-s*(h+g*tau); |
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545 | // A[j][iq] = h+s*(g-h*tau); |
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546 | // } |
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547 | // for (j=iq+1; j<=N; j++) { |
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548 | // g=A[ip][j]; |
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549 | // h=A[iq][j]; |
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550 | // A[ip][j] = g-s*(h+g*tau); |
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551 | // A[iq][j] = h+s*(g-h*tau); |
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552 | // } |
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553 | // for (j=1; j<=N; j++) { |
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554 | // g=V[j][ip]; |
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555 | // h=V[j][iq]; |
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556 | // V[j][ip] = g-s*(h+g*tau); |
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557 | // V[j][iq] = h+s*(g-h*tau); |
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558 | // } |
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559 | // *NROT=*NROT+1; |
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560 | // } //end ((i.gt.4)...else if |
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561 | // } // main iq loop |
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562 | // } // main ip loop |
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563 | // for (ip=1; ip<=N; ip++) { |
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564 | // B[ip] += Z[ip]; |
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565 | // D[ip]=B[ip]; |
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566 | // Z[ip]=0; |
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567 | // } |
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568 | // } //end of main i loop |
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569 | // printf("\n 50 iterations !\n"); |
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570 | // vmfree(vmblock1); |
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571 | // return; //too many iterations |
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572 | // } |
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573 | |
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