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Fix lambda00 for multi simplex model and x0 in homotopy_solver #15

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Nov 15, 2022
Merged

Fix lambda00 for multi simplex model and x0 in homotopy_solver #15

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3e37010
fix: bug in homotopy solver: x0 is in solver_initialization
FreyJo Nov 14, 2022
25d636a
fix bug regarding lambda00 for multi simplex model
FreyJo Nov 14, 2022
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7 changes: 3 additions & 4 deletions src/matlab/homotopy_solver.m
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Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,11 @@
s_elastic_iter = 1;

sigma_k = sigma_0;
x0 = model.x0;
x0 = solver_initialization.lbw(1:model.dimensions.n_x);

% lambda00 initialization
if strcmp(settings.pss_mode, 'Stewart')
g_eval = full(model.g_Stewart_fun(x0));
lambda00 = g_eval - min(g_eval);
lambda00 = full(model.lambda00_fun(x0));
elseif strcmp(settings.pss_mode, 'Step')
c_x = full(model.c_fun(x0));
lambda00 = [ max(c_x, 0); min(c_x, 0)];
Expand All @@ -59,7 +58,7 @@
complementarity_stats = [full(comp_res(w0, p_val))];
catch
w0 = w0(1:length(model.w));
complementarity_stats = [full(comp_res(w0))];
complementarity_stats = [full(comp_res(w0, p_val))];
end
cpu_time = [];
homotopy_iterations = [];
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3 changes: 3 additions & 0 deletions src/matlab/model_reformulation_nosnoc.m
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Expand Up @@ -809,6 +809,7 @@
g_switching = []; % collects switching function algebraic equations 0 = g_i(x) - \lambda_i - e \mu_i
g_convex = []; % equation for the convex multiplers 1 = e' \theta
f_comp_residual = 0; % the orthogonality conditions diag(\theta) \lambda = 0.
lambda00_expr =[];
for ii = 1:n_simplex
switch pss_mode
case 'Stewart'
Expand All @@ -822,6 +823,7 @@
% Gradient of Lagrange Function of indicator LP
g_switching = [g_switching; g_Stewart{ii}-lambda_all{ii}+mu_all{ii}*e_ones_all{ii}];
g_convex = [g_convex;e_ones_all{ii}'*theta_all{ii}-1];
lambda00_expr = [lambda00_expr; g_Stewart{ii}- min(g_Stewart{ii})];
f_comp_residual = f_comp_residual + lambda_all{ii}'*theta_all{ii};
case 'Step'
% c_i(x) - (lambda_1_i-lambda_0_i) = 0; for all i = 1,..., n_simplex
Expand Down Expand Up @@ -894,6 +896,7 @@
g_z_all_fun = Function('g_z_all_fun',{x,z},{g_z_all}); % lp kkt conditions without bilinear complementarity term (it is treated with the other c.c. conditions)
dot_c_fun = Function('c_fun',{x,z},{dot_c}); % total time derivative of switching functions
end
model.lambda00_fun = Function('lambda00_fun',{x},{lambda00_expr});

J_cc_fun = Function('J_cc_fun',{z},{f_comp_residual});
f_q_T_fun = Function('f_q_T',{x},{f_q_T});
Expand Down