class hmat(LinearOperator):
def __init__(self, mat, r=10, leaf_side=16):
LinearOperator.__init__(self,
dtype=mat.dtype,
shape=mat.shape,
matvec=self._matvec,
rmatvec=self._rmatvec)
self.mat = BlackBox(mat)
self.r = r
self.leaf_side = leaf_side
self.leaf_size = leaf_side**2
N = int(np.sqrt(self.mat.shape[0]))
self.pattern = distance_matrix(N, format='coo')
perm = hilbert_traverse(N)
conjugate_sparse(self.pattern, perm)
self.pattern = self.pattern.tocsr()
self.mat.permutate(perm)
self.root = hmat_node(self, tuple(zip((0, 0), self.mat.shape)))
return
def full_matrix(self):
mat = np.zeros(self.mat.shape)
self.root.full_part(mat)
conjugate(mat, self.mat.perm.argsort())
return mat
def _matvec(self, vec):
assert len(vec.shape) == 1, 'vec must be vector'
assert self.mat.shape[1] == vec.shape[0],\
'mat of shape {shp}, cannot matvec on vec of shape {vshp}'.format(shp=self.mat.shape, vshp=vec.shape)
if self.mat.perm is not None:
vec = vec[self.mat.perm]
result = np.zeros(self.mat.shape[0])
self.root.matvec_part(vec, result)
if self.mat.perm is not None:
result = result[self.mat.perm.argsort()]
return result
def _rmatvec(self, vec):
assert len(vec.shape) == 1, 'vec must be vector'
assert self.mat.shape[0] == vec.shape[0],\
'mat of shape {shp}, cannot matvec on vec of shape {vshp}'.format(shp=self.mat.shape, vshp=vec.shape)
if self.mat.perm is not None:
vec = vec[self.mat.perm]
result = np.zeros(self.mat.shape[1])
self.root.rmatvec_part(vec, result)
if self.mat.perm is not None:
result = result[self.mat.perm.argsort()]
return result
def count_params(self):
return self.root.count_params_part()
def check(self, orig):
self.root.check_part(orig)
class hmat(LinearOperator):
def __init__(self, mat, r=10, leaf_side=16):
LinearOperator.__init__(self, dtype=mat.dtype, shape=mat.shape,
matvec=self._matvec,
rmatvec=self._rmatvec)
self.mat = BlackBox(mat)
self.r = r
self.leaf_side = leaf_side
self.leaf_size = leaf_side**2
N = int(np.sqrt(self.mat.shape[0]))
self.pattern = distance_matrix(N, format='coo')
perm = hilbert_traverse(N)
conjugate_sparse(self.pattern, perm)
self.pattern = self.pattern.tocsr()
self.mat.permutate(perm)
self.root = hmat_node(self, tuple(zip((0, 0), self.mat.shape)))
return
def full_matrix(self):
mat = np.zeros(self.mat.shape)
self.root.full_part(mat)
conjugate(mat, self.mat.perm.argsort())
return mat
def _matvec(self, vec):
assert len(vec.shape) == 1, 'vec must be vector'
assert self.mat.shape[1] == vec.shape[0],\
'mat of shape {shp}, cannot matvec on vec of shape {vshp}'.format(shp=self.mat.shape, vshp=vec.shape)
if self.mat.perm is not None:
vec = vec[self.mat.perm]
result = np.zeros(self.mat.shape[0])
self.root.matvec_part(vec, result)
if self.mat.perm is not None:
result = result[self.mat.perm.argsort()]
return result
def _rmatvec(self, vec):
assert len(vec.shape) == 1, 'vec must be vector'
assert self.mat.shape[0] == vec.shape[0],\
'mat of shape {shp}, cannot matvec on vec of shape {vshp}'.format(shp=self.mat.shape, vshp=vec.shape)
if self.mat.perm is not None:
vec = vec[self.mat.perm]
result = np.zeros(self.mat.shape[1])
self.root.rmatvec_part(vec, result)
if self.mat.perm is not None:
result = result[self.mat.perm.argsort()]
return result
def count_params(self):
return self.root.count_params_part()
def check(self, orig):
self.root.check_part(orig)
def main_func(N=64):
# create fbox and hmat from our function
fbox = BlackBox(gen_func(N), shape=(N**2, N**2))
hm = hmat(fbox, r=3, leaf_side=16)
#orig = gen_mat(N)
# get original matrix
#approx = hm.full_matrix()
#print('approximation accuracy: {}'.format(rel_error(orig, approx)))
#print hm.count_params(), int(np.prod(orig.shape))
x = np.ones((N**2))
#rel_err_list_full = []
rel_err_list_hmat = []
x_hmat = scipy.sparse.linalg.cg(hm, hm.matvec(x), x0=None, tol=1e-6, maxiter=50,
callback=lambda xk: rel_err_list_hmat.append(rel_error(x, xk)))
#x_full = scipy.sparse.linalg.cg(fbox[:, :], np.dot(fbox[:, :], x), x0=None, tol=1e-6, maxiter=50,
# callback=lambda xk: rel_err_list_full.append(rel_error(x, xk)))
#print(rel_error(np.dot(fbox[:, :], x), hm.matvec(x)))
#print(x_full[1], x_hmat[1])
#print(rel_error(x, x_full[0]), rel_error(x, x_hmat[0]))
#for res, res_n in zip(rel_err_list_full, rel_err_list_hmat):
# print(res, res_n)
print(x_hmat[1])
print('rel_error: {}'.format(rel_error(x, x_hmat[0])))
for res in rel_err_list_hmat:
print(res)
hmat_params = hm.count_params()
full_params = int(np.prod(fbox.shape))
print('hmat params: {}, full params: {}'.format(hmat_params, full_params))
print('Compression_rate: {}'.format(1. - 1.*hmat_params/full_params))
return
def from_array(cls, data, eps=1e-7, decompose='skeleton'):
accepted_types = ['svd', 'skeleton']
if decompose not in accepted_types:
raise Exception(
'decompose must be one of the following: {types}'.format(
types=accepted_types))
if isinstance(data, np.ndarray):
black_box = BlackBox.from_array(data)
cls(black_box, decompose, eps)
def __init__(self, mat, r=10, leaf_side=16):
LinearOperator.__init__(self,
dtype=mat.dtype,
shape=mat.shape,
matvec=self._matvec,
rmatvec=self._rmatvec)
self.mat = BlackBox(mat)
self.r = r
self.leaf_side = leaf_side
self.leaf_size = leaf_side**2
N = int(np.sqrt(self.mat.shape[0]))
self.pattern = distance_matrix(N, format='coo')
perm = hilbert_traverse(N)
conjugate_sparse(self.pattern, perm)
self.pattern = self.pattern.tocsr()
self.mat.permutate(perm)
self.root = hmat_node(self, tuple(zip((0, 0), self.mat.shape)))
return
def run(self):
try:
print('getting ready...')
throttle = [0.0, 0.0, 0.0, 0.0]
for n in range(4):
print(4 - n)
time.sleep(1)
print("running...")
t0 = time.time()
t_stop = t0 + 3.0 # max duration of flight
b = BlackBox(size=(1000, 7))
data = [0, 0, 0, 0, 0, 0, 0]
while time.time() < t_stop and self.altimeter.get_altitude(
)[0][2] < 0.30:
throttle = [0.10, 0.10, 0.10, 0.10]
throttle = np.add(throttle, self.pid_angular.update())
self.escs.set_throttle(throttle)
for n in range(3):
data[n] = self.ahrs.xyz[n]
data[n + 3] = self.ahrs.xyz_dot[n]
data[6] = self.ahrs.dt
b.record(data)
b.write()
print(self.pid_angular)
print(
'============THROTTLE========================================='
)
print(self.escs)
finally:
self.stop()
def matvec_test(r=3):
ns = np.arange(10, 32, 1)
times_full = []
times_hmat = []
for n in ns:
fbox = BlackBox(gen_func(n), shape=(n**2, n**2))
hm = hmat(fbox, r=r, leaf_side=16)
x = np.ones((n**2))
orig = gen_mat(n)
times_full.append(timeit.timeit(lambda: np.dot(orig, x)))
times_hmat.append(timeit.timeit(lambda: hm.matvec(x)))
plt.plot(ns**2, times_full, 'r', ns**2, times_hmat, 'g')
plt.show()
return times_full, times_hmat
def __init__(self, mat, r=10, leaf_side=16):
LinearOperator.__init__(self, dtype=mat.dtype, shape=mat.shape,
matvec=self._matvec,
rmatvec=self._rmatvec)
self.mat = BlackBox(mat)
self.r = r
self.leaf_side = leaf_side
self.leaf_size = leaf_side**2
N = int(np.sqrt(self.mat.shape[0]))
self.pattern = distance_matrix(N, format='coo')
perm = hilbert_traverse(N)
conjugate_sparse(self.pattern, perm)
self.pattern = self.pattern.tocsr()
self.mat.permutate(perm)
self.root = hmat_node(self, tuple(zip((0, 0), self.mat.shape)))
return