def constantk_search_snopt_min(simplex, inter_par, K, y_safe, L_safe):
'''
The function F is composed as: 1st - objective
2nd to nth - simplex bounds
n+1 th .. - safe constraints
:param x0 : The mass-center of delaunay simplex
:param inter_par :
:param xc :
:param R2:
:param y0:
:param K0:
:param A_simplex:
:param b_simplex:
:param lb_simplex:
:param ub_simplex:
:param y_safe:
:param L_safe:
:return:
'''
xE = inter_par.xi
n = xE.shape[0]
# Determine if the boundary corner exists in simplex, if boundary corner detected:
# e(x) = || x - x' ||^2_2
# else, e(x) is the regular uncertainty function.
exist = unevaluated_vertices_identification(xE, simplex)
# ------- ADD THE FOLLOWING LINE WHEN DEBUGGING --------
# simplex = xi[:, tri[ind, :]]
# ------- ADD THE FOLLOWING LINE WHEN DEBUGGING --------
# Find the minimizer of the search fucntion in a simplex using SNOPT package.
R2, xc = Utils.circhyp(simplex, n)
# x is the center of this simplex
x = np.dot(simplex, np.ones([n + 1, 1]) / (n + 1))
# First find minimizer xr on reduced model, then find the 2D point corresponding to xr. Constrained optm.
A_simplex, b_simplex = Utils.search_simplex_bounds(simplex)
lb_simplex = np.min(simplex, axis=1)
ub_simplex = np.max(simplex, axis=1)
inf = 1.0e+20
m = n + 1 # The number of constraints which is determined by the number of simplex boundaries.
assert m == A_simplex.shape[0], 'The No. of simplex constraints is wrong'
# TODO: multiple safe constraints in future.
# nF: The number of problem functions in F(x), including the objective function, linear and nonlinear constraints.
# ObjRow indicates the number of objective row in F(x).
ObjRow = 1
# solve for constrained minimization of safe learning within each open ball of the vertices of simplex.
# Then choose the one with the minimum continuous function value.
x_solver = np.empty(shape=[n, 0])
y_solver = []
for i in range(n + 1):
vertex = simplex[:, i].reshape(-1, 1)
# First find the y_safe[vertex]:
val, idx, x_nn = Utils.mindis(vertex, xE)
if val > 1e-10:
# This vertex is a boundary corner point. No safe-guarantee, we do not optimize around support points.
continue
else:
# TODO: multiple safe constraints in future.
safe_bounds = y_safe[idx]
if n > 1:
# The first function in F(x) is the objective function, the rest are m simplex constraints.
# The last part of functions in F(x) is the safe constraints.
# In high dimension, A_simplex make sure that linear_derivative_A won't be all zero.
nF = 1 + m + 1 # the last 1 is the safe constraint.
Flow = np.hstack((-inf, b_simplex.T[0], -safe_bounds))
Fupp = inf * np.ones(nF)
# The lower and upper bounds of variables x.
xlow = np.copy(lb_simplex)
xupp = np.copy(ub_simplex)
# For the nonlinear components, enter any nonzero value in G to indicate the location
# of the nonlinear derivatives (in this case, 2).
# A must be properly defined with the correct derivative values.
linear_derivative_A = np.vstack((np.zeros(
(1, n)), A_simplex, np.zeros((1, n))))
nonlinear_derivative_G = np.vstack((2 * np.ones(
(1, n)), np.zeros((m, n)), 2 * np.ones((1, n))))
else:
# For 1D problem, the simplex constraint is defined in x bounds.
# TODO multiple safe cons.
# 2 = 1 obj + 1 safe con. Plus one redundant constraint to make matrix A suitable.
nF = 2 + 1
Flow = np.array([-inf, -safe_bounds, -inf])
Fupp = np.array([inf, inf, inf])
xlow = np.min(simplex) * np.ones(n)
xupp = np.max(simplex) * np.ones(n)
linear_derivative_A = np.vstack((np.zeros(
(1, n)), np.zeros((1, n)), np.ones((1, n))))
nonlinear_derivative_G = np.vstack((2 * np.ones(
(2, n)), np.zeros((1, n))))
x0 = x.T[0]
# ------- ADD THE FOLLOWING LINE WHEN DEBUGGING --------
# cd dogs
# ------- ADD THE FOLLOWING LINE WHEN DEBUGGING --------
save_opt_for_snopt_ck(n, nF, inter_par, xc, R2, K, A_simplex,
L_safe, vertex, exist)
# Since adaptiveK using ( p(x) - f0 ) / e(x), the objective function is nonlinear.
# The constraints are generated by simplex bounds, all linear.
options = SNOPT_options()
options.setOption('Infinite bound', inf)
options.setOption('Verify level', 3)
options.setOption('Verbose', False)
options.setOption('Print level', -1)
options.setOption('Scale option', 2)
options.setOption('Print frequency', -1)
options.setOption('Summary', 'No')
result = snopta(dogsobj,
n,
nF,
x0=x0,
name='DeltaDOGS_snopt',
xlow=xlow,
xupp=xupp,
Flow=Flow,
Fupp=Fupp,
ObjRow=ObjRow,
A=linear_derivative_A,
G=nonlinear_derivative_G,
options=options)
x_solver = np.hstack((x_solver, result.x.reshape(-1, 1)))
y_solver.append(result.objective)
y_solver = np.array(y_solver)
y = np.min(y_solver)
x = x_solver[:, np.argmin(y_solver)].reshape(-1, 1)
return x, y
def triangulation_search_bound_snopt(inter_par, xi, y0, ind_min, y_safe,
L_safe):
# reddir is a vector
inf = 1e+20
n = xi.shape[0] # The dimension of the reduced model.
# 0: Build up the Delaunay triangulation based on reduced subspace.
if n == 1:
sx = sorted(range(xi.shape[1]), key=lambda x: xi[:, x])
tri = np.zeros((xi.shape[1] - 1, 2))
tri[:, 0] = sx[:xi.shape[1] - 1]
tri[:, 1] = sx[1:]
tri = tri.astype(np.int32)
else:
options = 'Qt Qbb Qc' if n <= 3 else 'Qt Qbb Qc Qx'
tri = Delaunay(xi.T, qhull_options=options).simplices
keep = np.ones(len(tri), dtype=bool)
for i, t in enumerate(tri):
if abs(np.linalg.det(np.hstack(
(xi.T[t], np.ones([1, n + 1]).T)))) < 1E-15:
keep[i] = False # Point is coplanar, we don't want to keep it
tri = tri[keep]
# Sc contains the continuous search function value of the center of each Delaunay simplex
# 1: Identify the minimizer of adaptive K continuous search function
Sc = np.zeros([np.shape(tri)[0]])
Scl = np.zeros([np.shape(tri)[0]])
for ii in range(np.shape(tri)[0]):
R2, xc = Utils.circhyp(xi[:, tri[ii, :]], n)
if R2 < inf:
# initialize with body center of each simplex
x = np.dot(xi[:, tri[ii, :]], np.ones([n + 1, 1]) / (n + 1))
Sc[ii] = (interpolation.interpolate_val(x, inter_par) -
y0) / (R2 - np.linalg.norm(x - xc)**2)
if np.sum(ind_min == tri[ii, :]):
Scl[ii] = np.copy(Sc[ii])
else:
Scl[ii] = inf
else:
Scl[ii] = inf
Sc[ii] = inf
if np.min(Sc) < 0:
func = 'p'
# The minimum of Sc is negative, minimize p(x) instead.
Scp = np.zeros(tri.shape[0])
for ii in range(tri.shape[0]):
x = np.dot(xi[:, tri[ii, :]], np.ones([n + 1, 1]) / (n + 1))
Scp[ii] = interpolation.interpolate_val(x, inter_par)
# Globally minimize p(x)
ind = np.argmin(Scp)
x = np.dot(xi[:, tri[ind, :]], np.ones([n + 1, 1]) / (n + 1))
xm, ym = adaptiveK_p_snopt_min(x, inter_par, y_safe, L_safe)
result = 'glob'
else:
func = 'sc'
# Global one, the minimum of Sc has the minimum value of all circumcenters.
ind = np.argmin(Sc)
R2, xc = Utils.circhyp(xi[:, tri[ind, :]], n)
# x is the center of this simplex
x = np.dot(xi[:, tri[ind, :]], np.ones([n + 1, 1]) / (n + 1))
# First find minimizer xr on reduced model, then find the 2D point corresponding to xr. Constrained optm.
A_simplex, b_simplex = Utils.search_simplex_bounds(xi[:, tri[ind, :]])
lb_simplex = np.min(xi[:, tri[ind, :]], axis=1)
ub_simplex = np.max(xi[:, tri[ind, :]], axis=1)
xm, ym = adaptiveK_search_snopt_min(x, inter_par, xc, R2, y0, K0,
A_simplex, b_simplex, lb_simplex,
ub_simplex, y_safe, L_safe)
# Local one
ind = np.argmin(Scl)
R2, xc = Utils.circhyp(xi[:, tri[ind, :]], n)
x = np.dot(xi[:, tri[ind, :]], np.ones([n + 1, 1]) / (n + 1))
A_simplex, b_simplex = Utils.search_simplex_bounds(xi[:, tri[ind, :]])
lb_simplex = np.min(xi[:, tri[ind, :]], axis=1)
ub_simplex = np.max(xi[:, tri[ind, :]], axis=1)
xml, yml = adaptiveK_search_snopt_min(x, inter_par, xc, R2, y0, K0,
A_simplex, b_simplex, lb_simplex,
ub_simplex, y_safe, L_safe)
if yml < ym:
xm = np.copy(xml)
ym = np.copy(yml)
result = 'local'
else:
result = 'glob'
return xm, ym, result, func
