def calcADotGrad(A, t, tVec, phixVec, phiuVec, phipVec, B, C):
phixt = interpM(t, tVec, phixVec)
phiut = interpM(t, tVec, phiuVec)
phipt = interpM(t, tVec, phipVec)
Bt = interpV(t, tVec, B)
return phixt.dot(A) + phiut.dot(Bt) + phipt.dot(C)
def calcADotRest(A, t, tVec, phixVec, phiuVec, phipVec, B, C, aux):
phixt = interpM(t, tVec, phixVec)
phiut = interpM(t, tVec, phiuVec)
phipt = interpM(t, tVec, phipVec)
auxt = interpV(t, tVec, aux)
Bt = interpV(t, tVec, B)
return phixt.dot(A) + phiut.dot(Bt) + phipt.dot(C) + auxt
def calcADotRest(A, t, tVec, phixVec, phiuVec, phipVec, B, C, aux):
#print("In calcADot!")
phixt = interpM(t, tVec, phixVec)
phiut = interpM(t, tVec, phiuVec)
phipt = interpM(t, tVec, phipVec)
auxt = interpV(t, tVec, aux)
Bt = interpV(t, tVec, B)
#print('phixt =',phixt)
#print('phiut =',phiut)
#print('Bt =',Bt)
return phixt.dot(A) + phiut.dot(Bt) + phipt.dot(C) + auxt
def calcLamDotGrad(lam, t, tVec, fxInv, phixInv):
fxt = interpV(t, tVec, fxInv)
phixt = interpM(t, tVec, phixInv)
return phixt.dot(lam) - fxt
def calcLamDotRest(lam, t, tVec, phixInv):
phixt = interpM(t, tVec, phixInv)
return phixt.dot(lam)
def calcADotOdeRest(A, t, tVec, phixVec, aux):
phixt = interpM(t, tVec, phixVec)
auxt = interpV(t, tVec, aux)
return phixt.dot(A) + auxt