HarmonicOscillatorModel_impl.hpp

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// @HEADER
// ****************************************************************************
//                Tempus: Copyright (2017) Sandia Corporation
//
// Distributed under BSD 3-clause license (See accompanying file Copyright.txt)
// ****************************************************************************
// @HEADER

#ifndef TEMPUS_TEST_HARMONIC_OSCILLATOR_MODEL_IMPL_HPP
#define TEMPUS_TEST_HARMONIC_OSCILLATOR_MODEL_IMPL_HPP

#include "Teuchos_StandardParameterEntryValidators.hpp"

#include "Thyra_DefaultSpmdVectorSpace.hpp"
#include "Thyra_DetachedVectorView.hpp"
#include "Thyra_DetachedMultiVectorView.hpp"
#include "Thyra_DefaultSerialDenseLinearOpWithSolveFactory.hpp"
#include "Thyra_DefaultMultiVectorLinearOpWithSolve.hpp"
#include "Thyra_DefaultLinearOpSource.hpp"
#include "Thyra_VectorStdOps.hpp"
#include <iostream>


namespace Tempus_Test {

template<class Scalar>
HarmonicOscillatorModel<Scalar>::
HarmonicOscillatorModel(Teuchos::RCP<Teuchos::ParameterList> pList_):
 out_(Teuchos::VerboseObjectBase::getDefaultOStream())
{
  isInitialized_ = false;
  setParameterList(pList_);
  *out_ << "\n\nDamping coeff c = " << c_ << "\n";
  *out_ << "Forcing coeff f = " << f_ << "\n";
  *out_ << "x coeff k = " << k_ << "\n";
  *out_ << "Mass coeff m = " << m_ << "\n";
  //Divide all coefficients by m_
  k_ /= m_;
  f_ /= m_;
  c_ /= m_;
  m_ = 1.0;
  //Set up space and initial guess for solution vector
  vecLength_ = 1;
  x_space_ = Thyra::defaultSpmdVectorSpace<Scalar>(vecLength_);
  x_vec_ = createMember(x_space_);
  Thyra::put_scalar(0.0, x_vec_.ptr());
  x_dot_vec_ = createMember(x_space_);
  Thyra::put_scalar(1.0, x_dot_vec_.ptr());
  x_dot_dot_vec_ = createMember(x_space_);
  //The following is the initial condition for the acceleration
  //Commenting this out to check that IC for acceleration
  //is computed correctly using displacement and velocity ICs
  //inside 2nd order steppers.
  //Thyra::put_scalar(f_-c_, x_dot_dot_vec_.ptr());
  //Instead of real IC, putting arbitrary, incorrect IC to check correctness
  //in stepper involving calculation of a IC.
  Thyra::put_scalar(7.0, x_dot_dot_vec_.ptr());

  //Set up responses
  numResponses_ = 1;
  g_space_ = Thyra::defaultSpmdVectorSpace<Scalar>(numResponses_);

  setupInOutArgs_();
}

template<class Scalar>
Thyra::ModelEvaluatorBase::InArgs<Scalar>
HarmonicOscillatorModel<Scalar>::
getExactSolution(double t) const
{
  using Thyra::VectorBase;
  TEUCHOS_TEST_FOR_EXCEPTION( !isInitialized_, std::logic_error,
      "Error, setupInOutArgs_ must be called first!\n");
  Thyra::ModelEvaluatorBase::InArgs<Scalar> inArgs = inArgs_;
  double exact_t = t;
  inArgs.set_t(exact_t);
  Teuchos::RCP<VectorBase<Scalar> > exact_x = createMember(x_space_);
  { // scope to delete DetachedVectorView
    Thyra::DetachedVectorView<Scalar> exact_x_view(*exact_x);
    if (k_ == 0) {
      if (c_ == 0)
        exact_x_view[0] = t*(1.0+0.5*f_*t);
      else
        exact_x_view[0] = (c_-f_)/(c_*c_)*(1.0-exp(-c_*t))
                          + f_*t/c_;
    }
    else {
      exact_x_view[0] = 1.0/sqrt(k_)*sin(sqrt(k_)*t) + f_/k_*(1.0-cos(sqrt(k_)*t));
    }
  }
  inArgs.set_x(exact_x);
  Teuchos::RCP<VectorBase<Scalar> > exact_x_dot = createMember(x_space_);
  { // scope to delete DetachedVectorView
    Thyra::DetachedVectorView<Scalar> exact_x_dot_view(*exact_x_dot);
    if (k_ == 0) {
      if (c_ == 0)
        exact_x_dot_view[0] = 1.0+f_*t;
      else
        exact_x_dot_view[0] = (c_-f_)/c_*exp(-c_*t)+f_/c_;
    }
    else {
      exact_x_dot_view[0] = cos(sqrt(k_)*t) + f_/sqrt(k_)*sin(sqrt(k_)*t);
    }
  }
  inArgs.set_x_dot(exact_x_dot);
  Teuchos::RCP<VectorBase<Scalar> > exact_x_dot_dot = createMember(x_space_);
  { // scope to delete DetachedVectorView
    Thyra::DetachedVectorView<Scalar> exact_x_dot_dot_view(*exact_x_dot_dot);
    if (k_ == 0) {
      if (c_ == 0)
        exact_x_dot_dot_view[0] = f_;
      else
        exact_x_dot_dot_view[0] = (f_-c_)*exp(-c_*t);
    }
    else {
      exact_x_dot_dot_view[0] = f_*cos(sqrt(k_)*t) - sqrt(k_)*sin(sqrt(k_)*t);
    }
  }
  inArgs.set_x_dot_dot(exact_x_dot_dot);
  return(inArgs);
}

template<class Scalar>
Teuchos::RCP<const Thyra::VectorSpaceBase<Scalar> >
HarmonicOscillatorModel<Scalar>::
get_x_space() const
{
  return x_space_;
}


template<class Scalar>
Teuchos::RCP<const Thyra::VectorSpaceBase<Scalar> >
HarmonicOscillatorModel<Scalar>::
get_f_space() const
{
  return x_space_;
}


template<class Scalar>
Thyra::ModelEvaluatorBase::InArgs<Scalar>
HarmonicOscillatorModel<Scalar>::
getNominalValues() const
{
  TEUCHOS_TEST_FOR_EXCEPTION( !isInitialized_, std::logic_error,
      "Error, setupInOutArgs_ must be called first!\n");
  return nominalValues_;
}


template<class Scalar>
Teuchos::RCP<Thyra::LinearOpWithSolveBase<Scalar> >
HarmonicOscillatorModel<Scalar>::
create_W() const
{
  Teuchos::RCP<const Thyra::LinearOpWithSolveFactoryBase<Scalar> > W_factory = this->get_W_factory();
  Teuchos::RCP<Thyra::LinearOpBase<Scalar> > matrix = this->create_W_op();
  Teuchos::RCP<Thyra::MultiVectorBase<Scalar> > matrix_mv = Teuchos::rcp_dynamic_cast<Thyra::MultiVectorBase<Scalar> >(matrix,true);
  Thyra::DetachedMultiVectorView<Scalar> matrix_view( *matrix_mv );
  //IKT: is it necessary for W to be non-singular when initialized?
  matrix_view(0,0) = 1.0;
  Teuchos::RCP<Thyra::LinearOpWithSolveBase<Scalar> > W =
    Thyra::linearOpWithSolve<Scalar>(*W_factory, matrix );
  return W;
}


template<class Scalar>
Teuchos::RCP<Thyra::LinearOpBase<Scalar> >
HarmonicOscillatorModel<Scalar>::
create_W_op() const
{
  Teuchos::RCP<Thyra::MultiVectorBase<Scalar> > matrix = Thyra::createMembers(x_space_, vecLength_);
  return(matrix);
}


template<class Scalar>
Teuchos::RCP<const Thyra::LinearOpWithSolveFactoryBase<Scalar> >
HarmonicOscillatorModel<Scalar>::
get_W_factory() const
{
  Teuchos::RCP<Thyra::LinearOpWithSolveFactoryBase<Scalar> > W_factory =
    Thyra::defaultSerialDenseLinearOpWithSolveFactory<Scalar>();
  return W_factory;
}


template<class Scalar>
Thyra::ModelEvaluatorBase::InArgs<Scalar>
HarmonicOscillatorModel<Scalar>::
createInArgs() const
{
  setupInOutArgs_();
  return inArgs_;
}


// Private functions overridden from ModelEvaluatorDefaultBase


template<class Scalar>
Thyra::ModelEvaluatorBase::OutArgs<Scalar>
HarmonicOscillatorModel<Scalar>::
createOutArgsImpl() const
{
  setupInOutArgs_();
  return outArgs_;
}


template<class Scalar>
void
HarmonicOscillatorModel<Scalar>::
evalModelImpl(
  const Thyra::ModelEvaluatorBase::InArgs<Scalar> &inArgs,
  const Thyra::ModelEvaluatorBase::OutArgs<Scalar> &outArgs
  ) const
{
  using Teuchos::RCP;
  using Thyra::VectorBase;
  TEUCHOS_TEST_FOR_EXCEPTION( !isInitialized_, std::logic_error,
      "Error, setupInOutArgs_ must be called first!\n");

  RCP<const VectorBase<Scalar> > x_in = inArgs.get_x();
  double beta = inArgs.get_beta();
  if (!x_in.get()) {
    TEUCHOS_TEST_FOR_EXCEPTION(true, std::logic_error,
      "\n ERROR: HarmonicOscillatorModel requires x as InArgs.\n");
  }
  Thyra::ConstDetachedVectorView<Scalar> x_in_view( *x_in );
  //IKT, FIXME: check that subDim() is the write routine to get local length of a Thyra::ConstDetachedVectorView
  auto myVecLength  = x_in_view.subDim();

  RCP<const VectorBase<Scalar> > x_dot_in = inArgs.get_x_dot();
  double alpha = inArgs.get_alpha();

  RCP<const VectorBase<Scalar> > x_dotdot_in = inArgs.get_x_dot_dot();
  double omega = inArgs.get_W_x_dot_dot_coeff();

  //Parse OutArgs
  RCP<VectorBase<Scalar> > f_out = outArgs.get_f();
  RCP<VectorBase<Scalar> > g_out = outArgs.get_g(0);
  const RCP<Thyra::LinearOpBase<Scalar> > W_out = outArgs.get_W_op();

  Scalar neg_sign = 1.0;
  //Explicit ODE
  if (inArgs.get_x_dot_dot().is_null()) neg_sign = -1.0;

  //Populate residual and Jacobian
  if (f_out != Teuchos::null) {
    Thyra::DetachedVectorView<Scalar> f_out_view( *f_out );
    for (int i=0; i<myVecLength; i++) {
      f_out_view[i] = f_;
    }
    if (x_dotdot_in != Teuchos::null) {
      Thyra::ConstDetachedVectorView<Scalar> x_dotdot_in_view( *x_dotdot_in);
      for (int i=0; i<myVecLength; i++) {
        f_out_view[i] = x_dotdot_in_view[i] - f_out_view[i];
      }
    }
    if (x_dot_in != Teuchos::null) {
      Thyra::ConstDetachedVectorView<Scalar> x_dot_in_view( *x_dot_in);
      for (int i=0; i<myVecLength; i++) {
        f_out_view[i] += neg_sign*c_*x_dot_in_view[i];
      }
    }
    if (x_in != Teuchos::null) {
      for (int i=0; i<myVecLength; i++) {
        f_out_view[i] += neg_sign*k_*x_in_view[i];
      }
    }
  }

  // Note: W = alpha*df/dxdot + beta*df/dx + omega*df/dxdotdot
  if (W_out != Teuchos::null) {
    RCP<Thyra::MultiVectorBase<Scalar> > matrix = Teuchos::rcp_dynamic_cast<Thyra::MultiVectorBase<Scalar> >(W_out,true);
    Thyra::DetachedMultiVectorView<Scalar> matrix_view( *matrix );
    if (omega == 0.0) {
      TEUCHOS_TEST_FOR_EXCEPTION(true, std::logic_error,
        "\n ERROR: omega = 0 in HarmonicOscillatorModel!\n");
    }
    matrix_view(0,0) = omega;
    if (x_dot_in != Teuchos::null) {
      matrix_view(0,0) += neg_sign*c_*alpha;
    }
    if (x_in != Teuchos::null) {
      matrix_view(0,0) += neg_sign*k_*beta;
    }
  }

  //Calculated response(s) g
  //g = mean value of x
  if (g_out != Teuchos::null) {
    Thyra::DetachedVectorView<Scalar> g_out_view(*g_out);
    g_out_view[0] = Thyra::sum(*x_in)/vecLength_;
  }
}

template<class Scalar>
Teuchos::RCP<const Thyra::VectorSpaceBase<Scalar> >
HarmonicOscillatorModel<Scalar>::
get_p_space(int l) const
{
  TEUCHOS_TEST_FOR_EXCEPTION(true, std::logic_error,
                     "\n Error!  HarmonicOscillatorModel::get_p_space() is not supported!\n");
  return Teuchos::null;
}

template<class Scalar>
Teuchos::RCP<const Teuchos::Array<std::string> >
HarmonicOscillatorModel<Scalar>::
get_p_names(int l) const
{
  TEUCHOS_TEST_FOR_EXCEPTION(true, std::logic_error,
                     "\n Error!  HarmonicOscillatorModel::get_p_names() is not supported!\n");
  return Teuchos::null;
}

template<class Scalar>
Teuchos::RCP<const Thyra::VectorSpaceBase<Scalar> >
HarmonicOscillatorModel<Scalar>::
get_g_space(int j) const
{
  TEUCHOS_TEST_FOR_EXCEPTION(j != 0, std::logic_error,
                     "\n Error!  HarmonicOscillatorModel::get_g_space() only " <<
                     " supports 1 parameter vector.  Supplied index l = " <<
                     j << "\n");
  return g_space_;
}

// private

template<class Scalar>
void
HarmonicOscillatorModel<Scalar>::
setupInOutArgs_() const
{
  if (isInitialized_) return;

  //Set up InArgs
  Thyra::ModelEvaluatorBase::InArgsSetup<Scalar> inArgs;
  inArgs.setModelEvalDescription(this->description());
  inArgs.set_Np(0);
  inArgs.setSupports(Thyra::ModelEvaluatorBase::IN_ARG_x);
  inArgs.setSupports(Thyra::ModelEvaluatorBase::IN_ARG_x_dot);
  inArgs.setSupports(Thyra::ModelEvaluatorBase::IN_ARG_x_dot_dot);
  inArgs.setSupports(Thyra::ModelEvaluatorBase::IN_ARG_t);
  inArgs.setSupports(Thyra::ModelEvaluatorBase::IN_ARG_W_x_dot_dot_coeff);
  inArgs.setSupports(Thyra::ModelEvaluatorBase::IN_ARG_alpha);
  inArgs.setSupports(Thyra::ModelEvaluatorBase::IN_ARG_beta);
  inArgs_ = inArgs;

  //Set up OutArgs
  Thyra::ModelEvaluatorBase::OutArgsSetup<Scalar> outArgs;
  outArgs.setModelEvalDescription(this->description());
  outArgs.set_Np_Ng(0, numResponses_);

  outArgs.setSupports(Thyra::ModelEvaluatorBase::OUT_ARG_f);
  outArgs.setSupports(Thyra::ModelEvaluatorBase::OUT_ARG_W_op);
  //outArgs.setSupports(OUT_ARG_W,true);
  //IKT, what is the following supposed to do??
  //outArgs.set_W_properties( DerivativeProperties(
  //    DERIV_LINEARITY_UNKNOWN, DERIV_RANK_FULL, true));
  outArgs_ = outArgs;

  // Set up nominal values
  nominalValues_ = inArgs_;
  nominalValues_.set_t(0.0);
  nominalValues_.set_x(x_vec_);
  nominalValues_.set_x_dot(x_dot_vec_);
  nominalValues_.set_x_dot_dot(x_dot_dot_vec_);

  isInitialized_ = true;

}

template<class Scalar>
void
HarmonicOscillatorModel<Scalar>::
setParameterList(Teuchos::RCP<Teuchos::ParameterList> const& paramList)
{
  using Teuchos::get;
  using Teuchos::RCP;
  using Teuchos::ParameterList;
  RCP<ParameterList> tmpPL = Teuchos::rcp(new ParameterList("HarmonicOscillatorModel"));
  if (paramList != Teuchos::null) tmpPL = paramList;
  tmpPL->validateParametersAndSetDefaults(*this->getValidParameters());
  this->setMyParamList(tmpPL);
  RCP<ParameterList> pl = this->getMyNonconstParamList();
  c_ = get<Scalar>(*pl,"Damping coeff c");
  f_ = get<Scalar>(*pl,"Forcing coeff f");
  k_ = get<Scalar>(*pl,"x coeff k");
  m_ = get<Scalar>(*pl,"Mass coeff m");
  if (m_ <= 0.0) {
    TEUCHOS_TEST_FOR_EXCEPTION(true, std::logic_error,
      "Error: invalid value of Mass coeff m = " << m_ <<"!  Mass coeff m must be > 0.\n");
  }
  if (k_ < 0.0) {
    TEUCHOS_TEST_FOR_EXCEPTION(true, std::logic_error,
      "Error: invalid value of x coeff k = " << k_ <<"!  x coeff k must be >= 0.\n");
  }
  if ((k_ > 0.0) && (c_ != 0.0)) {
    TEUCHOS_TEST_FOR_EXCEPTION(true, std::logic_error,
      "Error: HarmonicOscillator model only supports x coeff k > 0 when Damping coeff c = 0.  You have "
      << "specified x coeff k = " << k_ << " and Damping coeff c = " << c_ << ".\n");
  }
}

template<class Scalar>
Teuchos::RCP<const Teuchos::ParameterList>
HarmonicOscillatorModel<Scalar>::
getValidParameters() const
{
  static Teuchos::RCP<const Teuchos::ParameterList> validPL;
  if (is_null(validPL)) {
    Teuchos::RCP<Teuchos::ParameterList> pl = Teuchos::parameterList();
    validPL = pl;
    Teuchos::setDoubleParameter(
        "Damping coeff c", 0.0, "Damping coefficient in model", &*pl);
    Teuchos::setDoubleParameter(
        "Forcing coeff f", -1.0, "Forcing coefficient in model", &*pl);
    Teuchos::setDoubleParameter(
        "x coeff k", 0.0, "x coefficient in model", &*pl);
    Teuchos::setDoubleParameter(
        "Mass coeff m", 1.0, "Mass coefficient in model", &*pl);
  }
  return validPL;
}

} // namespace Tempus_Test
#endif // TEMPUS_TEST_HARMONIC_OSCILLATOR_MODEL_IMPL_HPP