def _dense_num_jac(fun, t, y, f, h, factor, y_scale):
n = y.shape[0]
h_vecs = xp.diag(h)
f_new = fun(t, y[:, None] + h_vecs)
diff = f_new - f[:, None]
max_ind = xp.argmax(xp.abs(diff), axis=0)
r = xp.arange(n)
max_diff = xp.abs(diff[max_ind, r])
scale = xp.maximum(xp.abs(f[max_ind]), xp.abs(f_new[max_ind, r]))
diff_too_small = max_diff < NUM_JAC_DIFF_REJECT * scale
if xp.any(diff_too_small):
ind, = xp.nonzero(diff_too_small)
new_factor = NUM_JAC_FACTOR_INCREASE * factor[ind]
h_new = (y[ind] + new_factor * y_scale[ind]) - y[ind]
h_vecs[ind, ind] = h_new
f_new = fun(t, y[:, None] + h_vecs[:, ind])
diff_new = f_new - f[:, None]
max_ind = xp.argmax(xp.abs(diff_new), axis=0)
r = xp.arange(ind.shape[0])
max_diff_new = xp.abs(diff_new[max_ind, r])
scale_new = xp.maximum(xp.abs(f[max_ind]), xp.abs(f_new[max_ind, r]))
update = max_diff[ind] * scale_new < max_diff_new * scale[ind]
if xp.any(update):
update, = xp.nonzero(update)
update_ind = ind[update]
factor[update_ind] = new_factor[update]
h[update_ind] = h_new[update]
diff[:, update_ind] = diff_new[:, update]
scale[update_ind] = scale_new[update]
max_diff[update_ind] = max_diff_new[update]
diff /= h
factor[max_diff < NUM_JAC_DIFF_SMALL * scale] *= NUM_JAC_FACTOR_INCREASE
factor[max_diff > NUM_JAC_DIFF_BIG * scale] *= NUM_JAC_FACTOR_DECREASE
factor = xp.maximum(factor, NUM_JAC_MIN_FACTOR)
return diff, factor
def handle_events(sol, events, active_events, is_terminal, t_old, t):
"""Helper function to handle events.
Parameters
----------
sol : DenseOutput
Function ``sol(t)`` which evaluates an ODE solution between `t_old`
and `t`.
events : list of callables, length n_events
Event functions with signatures ``event(t, y)``.
active_events : ndarray
Indices of events which occurred.
is_terminal : ndarray, shape (n_events,)
Which events are terminal.
t_old, t : float
Previous and new values of time.
Returns
-------
root_indices : ndarray
Indices of events which take zero between `t_old` and `t` and before
a possible termination.
roots : ndarray
Values of t at which events occurred.
terminate : bool
Whether a terminal event occurred.
"""
roots = []
for event_index in active_events:
roots.append(solve_event_equation(events[event_index], sol, t_old, t))
roots = xp.asarray(roots)
if xp.any(is_terminal[active_events]):
if t > t_old:
order = xp.argsort(roots)
else:
order = xp.argsort(-roots)
active_events = active_events[order]
roots = roots[order]
t = xp.nonzero(is_terminal[active_events])[0][0]
active_events = active_events[:t + 1]
roots = roots[:t + 1]
terminate = True
else:
terminate = False
return active_events, roots, terminate
def find_active_events(g, g_new, direction):
"""Find which event occurred during an integration step.
Parameters
----------
g, g_new : array_like, shape (n_events,)
Values of event functions at a current and next points.
direction : ndarray, shape (n_events,)
Event "direction" according to the definition in `solve_ivp`.
Returns
-------
active_events : ndarray
Indices of events which occurred during the step.
"""
g, g_new = xp.asarray(g), xp.asarray(g_new)
up = (g <= 0) & (g_new >= 0)
down = (g >= 0) & (g_new <= 0)
either = up | down
mask = up & (direction > 0) | down & (direction < 0) | either & (direction == 0)
return xp.nonzero(mask)[0]
def _sparse_num_jac(fun, t, y, f, h, factor, y_scale, structure, groups):
n = y.shape[0]
n_groups = xp.max(groups) + 1
h_vecs = xp.empty((n_groups, n))
for group in range(n_groups):
e = xp.equal(group, groups)
h_vecs[group] = h * e
h_vecs = h_vecs.T
f_new = fun(t, y[:, None] + h_vecs)
df = f_new - f[:, None]
i, j, _ = find(structure)
diff = coo_matrix((df[i, groups[j]], (i, j)), shape=(n, n)).tocsc()
max_ind = xp.array(abs(diff).argmax(axis=0)).ravel()
r = xp.arange(n)
max_diff = xp.asarray(xp.abs(diff[max_ind, r])).ravel()
scale = xp.maximum(xp.abs(f[max_ind]), xp.abs(f_new[max_ind, groups[r]]))
diff_too_small = max_diff < NUM_JAC_DIFF_REJECT * scale
if xp.any(diff_too_small):
ind, = xp.nonzero(diff_too_small)
new_factor = NUM_JAC_FACTOR_INCREASE * factor[ind]
h_new = (y[ind] + new_factor * y_scale[ind]) - y[ind]
h_new_all = xp.zeros(n)
h_new_all[ind] = h_new
groups_unique = xp.unique(groups[ind])
groups_map = xp.empty(n_groups, dtype=int)
h_vecs = xp.empty((groups_unique.shape[0], n))
for k, group in enumerate(groups_unique):
e = xp.equal(group, groups)
h_vecs[k] = h_new_all * e
groups_map[group] = k
h_vecs = h_vecs.T
f_new = fun(t, y[:, None] + h_vecs)
df = f_new - f[:, None]
i, j, _ = find(structure[:, ind])
diff_new = coo_matrix((df[i, groups_map[groups[ind[j]]]], (i, j)),
shape=(n, ind.shape[0])).tocsc()
max_ind_new = xp.array(abs(diff_new).argmax(axis=0)).ravel()
r = xp.arange(ind.shape[0])
max_diff_new = xp.asarray(xp.abs(diff_new[max_ind_new, r])).ravel()
scale_new = xp.maximum(
xp.abs(f[max_ind_new]),
xp.abs(f_new[max_ind_new, groups_map[groups[ind]]]))
update = max_diff[ind] * scale_new < max_diff_new * scale[ind]
if xp.any(update):
update, = xp.nonzero(update)
update_ind = ind[update]
factor[update_ind] = new_factor[update]
h[update_ind] = h_new[update]
diff[:, update_ind] = diff_new[:, update]
scale[update_ind] = scale_new[update]
max_diff[update_ind] = max_diff_new[update]
diff.data /= xp.repeat(h, xp.diff(diff.indptr))
factor[max_diff < NUM_JAC_DIFF_SMALL * scale] *= NUM_JAC_FACTOR_INCREASE
factor[max_diff > NUM_JAC_DIFF_BIG * scale] *= NUM_JAC_FACTOR_DECREASE
factor = xp.maximum(factor, NUM_JAC_MIN_FACTOR)
return diff, factor
def num_jac(fun, t, y, f, threshold, factor, sparsity=None):
"""Finite differences Jacobian approximation tailored for ODE solvers.
This function computes finite difference approximation to the Jacobian
matrix of `fun` with respect to `y` using forward differences.
The Jacobian matrix has shape (n, n) and its element (i, j) is equal to
``d f_i / d y_j``.
A special feature of this function is the ability to correct the step
size from iteration to iteration. The main idea is to keep the finite
difference significantly separated from its round-off error which
approximately equals ``EPS * xp.abs(f)``. It reduces a possibility of a
huge error and assures that the estimated derivative are reasonably close
to the true values (i.e. the finite difference approximation is at least
qualitatively reflects the structure of the true Jacobian).
Parameters
----------
fun : callable
Right-hand side of the system implemented in a vectorized fashion.
t : float
Current time.
y : ndarray, shape (n,)
Current state.
f : ndarray, shape (n,)
Value of the right hand side at (t, y).
threshold : float
Threshold for `y` value used for computing the step size as
``factor * xp.maximum(xp.abs(y), threshold)``. Typically the value of
absolute tolerance (atol) for a solver should be passed as `threshold`.
factor : ndarray with shape (n,) or None
Factor to use for computing the step size. Pass None for the very
evaluation, then use the value returned from this function.
sparsity : tuple (structure, groups) or None
Sparsity structure of the Jacobian, `structure` must be csc_matrix.
Returns
-------
J : ndarray or csc_matrix, shape (n, n)
Jacobian matrix.
factor : ndarray, shape (n,)
Suggested `factor` for the next evaluation.
"""
y = xp.asarray(y)
n = y.shape[0]
if n == 0:
return xp.empty((0, 0)), factor
if factor is None:
factor = xp.full(n, EPS**0.5)
else:
factor = factor.copy()
# Direct the step as ODE dictates, hoping that such a step won't lead to
# a problematic region. For complex ODEs it makes sense to use the real
# part of f as we use steps along real axis.
f_sign = 2 * (xp.real(f) >= 0).astype(float) - 1
y_scale = f_sign * xp.maximum(threshold, xp.abs(y))
h = (y + factor * y_scale) - y
# Make sure that the step is not 0 to start with. Not likely it will be
# executed often.
for i in xp.nonzero(h == 0)[0]:
while h[i] == 0:
factor[i] *= 10
h[i] = (y[i] + factor[i] * y_scale[i]) - y[i]
if sparsity is None:
return _dense_num_jac(fun, t, y, f, h, factor, y_scale)
else:
structure, groups = sparsity
return _sparse_num_jac(fun, t, y, f, h, factor, y_scale, structure,
groups)