tiny_solver/linear/
sparse_qr.rs

1use super::sparse::SparseLinearSolver;
2use faer::prelude::{SpSolver, SpSolverLstsq};
3use faer::sparse::linalg::solvers;
4
5#[derive(Debug, Clone)]
6pub struct SparseQRSolver {
7    symbolic_pattern: Option<solvers::SymbolicQr<usize>>,
8}
9
10impl SparseQRSolver {
11    pub fn new() -> Self {
12        SparseQRSolver {
13            symbolic_pattern: None,
14        }
15    }
16}
17impl Default for SparseQRSolver {
18    fn default() -> Self {
19        Self::new()
20    }
21}
22impl SparseLinearSolver for SparseQRSolver {
23    fn solve(
24        &mut self,
25        residuals: &faer::Mat<f64>,
26        jacobians: &faer::sparse::SparseColMat<usize, f64>,
27    ) -> Option<faer::Mat<f64>> {
28        if self.symbolic_pattern.is_none() {
29            self.symbolic_pattern =
30                Some(solvers::SymbolicQr::try_new(jacobians.symbolic()).unwrap());
31        }
32
33        let sym = self.symbolic_pattern.as_ref().unwrap();
34        if let Ok(qr) = solvers::Qr::try_new_with_symbolic(sym.clone(), jacobians.as_ref()) {
35            let dx = qr.solve_lstsq(-residuals);
36            Some(dx)
37        } else {
38            None
39        }
40    }
41
42    fn solve_jtj(
43        &mut self,
44        jtr: &faer::Mat<f64>,
45        jtj: &faer::sparse::SparseColMat<usize, f64>,
46    ) -> Option<faer::Mat<f64>> {
47        if self.symbolic_pattern.is_none() {
48            self.symbolic_pattern = Some(solvers::SymbolicQr::try_new(jtj.symbolic()).unwrap());
49        }
50
51        let sym = self.symbolic_pattern.as_ref().unwrap();
52        if let Ok(qr) = solvers::Qr::try_new_with_symbolic(sym.clone(), jtj.as_ref()) {
53            let dx = qr.solve(-jtr);
54            Some(dx)
55        } else {
56            None
57        }
58    }
59}
tiny_solver/linear/sparse_qr.rs

tiny_solver/linear/
sparse_qr.rs
