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GCVSPLUtil.h
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1 #ifndef SimTK_SIMMATH_GCVSPL_UTIL_H_
2 #define SimTK_SIMMATH_GCVSPL_UTIL_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKmath *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2008-12 Stanford University and the Authors. *
13  * Authors: Peter Eastman *
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23  * See the License for the specific language governing permissions and *
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26 
27 #include "SimTKcommon.h"
29 
30 // These are global functions.
31 int SimTK_gcvspl_(const SimTK::Real *, const SimTK::Real *, int *, const SimTK::Real *, const SimTK::Real *, int *, int *,
32  int *, int *, SimTK::Real *, SimTK::Real *, int *, SimTK::Real *, int *);
33 SimTK::Real SimTK_splder_(int *, int *, int *, SimTK::Real *, const SimTK::Real *, const SimTK::Real *, int *, SimTK::Real *, int);
34 
35 namespace SimTK {
36 
45 public:
46  static void gcvspl(const Vector& x, const Vector& y, const Vector& wx, Real wy, int m, int md, Real val, Vector& c, Vector& wk, int& ier);
47  template <int K>
48  static void gcvspl(const Vector& x, const Vector_<Vec<K> >& y, const Vector& wx, Vec<K> wy, int m, int md, Real val, Vector_<Vec<K> >& c, Vector& wk, int& ier);
49  static Real splder(int derivOrder, int degree, Real t, const Vector& x, const Vector& coeff);
50  template <int K>
51  static Vec<K> splder(int derivOrder, int degree, Real t, const Vector& x, const Vector_<Vec<K> >& coeff);
52 };
53 
54 template <int K>
55 void GCVSPLUtil::gcvspl(const Vector& x, const Vector_<Vec<K> >& y, const Vector& wx, Vec<K> wy, int degree, int md, Real val, Vector_<Vec<K> >& c, Vector& wk, int& ier) {
56  SimTK_APIARGCHECK_ALWAYS(degree > 0 && degree%2==1, "GCVSPLUtil", "gcvspl", "degree must be positive and odd");
57  SimTK_APIARGCHECK_ALWAYS(y.size() >= x.size(), "GCVSPLUtil", "gcvspl", "y is shorter than x");
58  SimTK_APIARGCHECK_ALWAYS(wx.size() >= x.size(), "GCVSPLUtil", "gcvspl", "wx and x must be the same size");
59  SimTK_APIARGCHECK_ALWAYS(x.hasContiguousData(), "GCVSPLUtil", "gcvspl", "x must have contiguous storage (i.e. not be a view)");
60  SimTK_APIARGCHECK_ALWAYS(wk.hasContiguousData(), "GCVSPLUtil", "gcvspl", "wk must have contiguous storage (i.e. not be a view)");
61 
62  // Create various temporary variables.
63 
64  int m = (degree+1)/2;
65  int n = x.size();
66  int ny = y.size();
67  Vector yvec(ny*K);
68  int index = 0;
69  for (int j = 0; j < K; ++j)
70  for (int i = 0; i < ny; ++i)
71  yvec[index++] = y[i][j];
72  int nc = n*K;
73  Vector cvec(nc);
74  wk.resize(6*(m*n+1)+n);
75  int k = K;
76 
77  // Invoke GCV.
78 
79  SimTK_gcvspl_(&x[0], &yvec[0], &ny, &wx[0], &wy[0], &m, &n, &k, &md, &val, &cvec[0], &n, &wk[0], &ier);
80  if (ier != 0) {
81  SimTK_APIARGCHECK_ALWAYS(n >= 2*m, "GCVSPLUtil", "gcvspl", "Too few data points");
82  SimTK_APIARGCHECK_ALWAYS(ier != 2, "GCVSPLUtil", "gcvspl", "The values in x must be strictly increasing");
83  SimTK_APIARGCHECK_ALWAYS(ier == 0, "GCVSPLUtil", "gcvspl", "GCVSPL returned an error code");
84  }
85  c.resize(n);
86  index = 0;
87  for (int j = 0; j < K; ++j)
88  for (int i = 0; i < n; ++i)
89  c[i][j] = cvec[index++];
90 }
91 
92 template <int K>
93 Vec<K> GCVSPLUtil::splder(int derivOrder, int degree, Real t, const Vector& x, const Vector_<Vec<K> >& coeff) {
94  assert(derivOrder >= 0);
95  assert(t >= x[0] && t <= x[x.size()-1]);
96  assert(x.size() == coeff.size());
97  assert(degree > 0 && degree%2==1);
98  assert(x.hasContiguousData());
99 
100  // Create various temporary variables.
101 
102 
103  Vec<K> result;
104  int m = (degree+1)/2;
105  int n = x.size();
106  int interval = (int) ceil(n*(t-x[0])/(x[n-1]-x[0]));
107 
108  const int MaxCheapM = 32;
109  Real qbuf[2*MaxCheapM];
110 
111  Real *q = qbuf; // tentatively
112  if (m > MaxCheapM)
113  q = new Real[2*m]; // use heap instead; don't forget to delete
114 
115  int offset = (int) (&coeff[1][0]-&coeff[0][0]);
116 
117  // Evaluate the spline one component at a time.
118 
119  for (int i = 0; i < K; ++i)
120  result[i] = SimTK_splder_(&derivOrder, &m, &n, &t, &x[0], &coeff[0][i], &interval, q, offset);
121 
122  if (m > MaxCheapM)
123  delete[] q;
124 
125  return result;
126 }
127 
128 } // namespace SimTK
129 
130 #endif // SimTK_SIMMATH_GCVSPL_UTIL_H_
131 
132 
#define SimTK_APIARGCHECK_ALWAYS(cond, className, methodName, msg)
Definition: ExceptionMacros.h:224
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
int size() const
Definition: VectorBase.h:396
int SimTK_gcvspl_(const SimTK::Real *, const SimTK::Real *, int *, const SimTK::Real *, const SimTK::Real *, int *, int *, int *, int *, SimTK::Real *, SimTK::Real *, int *, SimTK::Real *, int *)
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:577
This class provides entry points for using the GCVSPL algorithm in terms of SimTK data types...
Definition: GCVSPLUtil.h:44
static Real splder(int derivOrder, int degree, Real t, const Vector &x, const Vector &coeff)
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
VectorBase & resize(int m)
Definition: VectorBase.h:451
This is the header file that every Simmath compilation unit should include first. ...
bool hasContiguousData() const
Definition: MatrixBase.h:838
SimTK::Real SimTK_splder_(int *, int *, int *, SimTK::Real *, const SimTK::Real *, const SimTK::Real *, int *, SimTK::Real *, int)
This is a fixed-length column vector designed for no-overhead inline computation. ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:589
static void gcvspl(const Vector &x, const Vector &y, const Vector &wx, Real wy, int m, int md, Real val, Vector &c, Vector &wk, int &ier)
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64