OptimizationProblemBuilder.java
/* Copyright 2013-2019 CS Systèmes d'Information
* Licensed to CS Systèmes d'Information (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
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*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
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*/
package org.orekit.rugged.adjustment;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.HashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;
import org.hipparchus.analysis.differentiation.DSFactory;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.optim.ConvergenceChecker;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresProblem;
import org.hipparchus.optim.nonlinear.vector.leastsquares.MultivariateJacobianFunction;
import org.hipparchus.optim.nonlinear.vector.leastsquares.ParameterValidator;
import org.orekit.rugged.adjustment.measurements.Observables;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.rugged.errors.RuggedMessages;
import org.orekit.rugged.linesensor.LineSensor;
import org.orekit.rugged.utils.DSGenerator;
import org.orekit.utils.ParameterDriver;
/**
* Builder for optimization problem.
* <p>
* Constructs the optimization problem defined by a set of measurement and sensors.
* </p>
* @author Jonathan Guinet
* @author Guylaine Prat
* @since 2.0
*/
abstract class OptimizationProblemBuilder {
/** Margin used in parameters estimation for the inverse location lines range. */
protected static final int ESTIMATION_LINE_RANGE_MARGIN = 100;
/** Derivative structure generator.*/
private final DSGenerator generator;
/** Parameter drivers list. */
private final List<ParameterDriver> drivers;
/** Number of parameters to refine. */
private final int nbParams;
/** Measurements. */
private Observables measurements;
/** Sensors list. */
private final List<LineSensor> sensors;
/** Constructor.
* @param sensors list of sensors to refine
* @param measurements set of observables
*/
OptimizationProblemBuilder(final List<LineSensor> sensors, final Observables measurements) {
this.generator = this.createGenerator(sensors);
this.drivers = this.generator.getSelected();
this.nbParams = this.drivers.size();
if (this.nbParams == 0) {
throw new RuggedException(RuggedMessages.NO_PARAMETERS_SELECTED);
}
this.measurements = measurements;
this.sensors = sensors;
}
/** Least squares problem builder.
* @param maxEvaluations maximum number of evaluations
* @param convergenceThreshold convergence threshold
* @return the least squares problem
*/
public abstract LeastSquaresProblem build(int maxEvaluations, double convergenceThreshold);
/** Create the convergence check.
* <p>
* check LInf distance of parameters variation between previous and current iteration
* </p>
* @param parametersConvergenceThreshold convergence threshold
* @return the checker
*/
final ConvergenceChecker<LeastSquaresProblem.Evaluation>
createChecker(final double parametersConvergenceThreshold) {
final ConvergenceChecker<LeastSquaresProblem.Evaluation> checker = (iteration, previous, current)
-> current.getPoint().getLInfDistance(previous.getPoint()) <= parametersConvergenceThreshold;
return checker;
}
/** Create start points for optimization algorithm.
* @return start parameters values (normalized)
*/
final double[] createStartTab() {
// Get start points (as a normalized value)
final double[] start = new double[this.nbParams];
int iStart = 0;
for (final ParameterDriver driver : this.drivers) {
start[iStart++] = driver.getNormalizedValue();
}
return start;
}
/** Create targets and weights of optimization problem. */
protected abstract void createTargetAndWeight();
/** Create the model function value and its Jacobian.
* @return the model function value and its Jacobian
*/
protected abstract MultivariateJacobianFunction createFunction();
/** Parse the observables to select mapping .*/
protected abstract void initMapping();
/** Create parameter validator.
* @return parameter validator
*/
final ParameterValidator createParameterValidator() {
// Prevent parameters to exceed their prescribed bounds
final ParameterValidator validator = params -> {
int i = 0;
for (final ParameterDriver driver : this.drivers) {
// let the parameter handle min/max clipping
driver.setNormalizedValue(params.getEntry(i));
params.setEntry(i++, driver.getNormalizedValue());
}
return params;
};
return validator;
}
/** Create the generator for {@link DerivativeStructure} instances.
* @param selectedSensors list of sensors referencing the parameters drivers
* @return a new generator
*/
private DSGenerator createGenerator(final List<LineSensor> selectedSensors) {
// Initialize set of drivers name
final Set<String> names = new HashSet<>();
// Get the drivers name
for (final LineSensor sensor : selectedSensors) {
// Get the drivers name for the sensor
sensor.getParametersDrivers().forEach(driver -> {
// Add the name of the driver to the set of drivers name
if (names.contains(driver.getName()) == false) {
names.add(driver.getName());
}
});
}
// Set up generator list and map
final List<ParameterDriver> selected = new ArrayList<>();
final Map<String, Integer> map = new HashMap<>();
// Get the list of selected drivers
for (final LineSensor sensor : selectedSensors) {
sensor.getParametersDrivers().filter(driver -> driver.isSelected()).forEach(driver -> {
if (map.get(driver.getName()) == null) {
map.put(driver.getName(), map.size());
selected.add(driver);
}
});
}
final DSFactory factory = new DSFactory(map.size(), 1);
// Derivative Structure Generator
return new DSGenerator() {
/** {@inheritDoc} */
@Override
public List<ParameterDriver> getSelected() {
return selected;
}
/** {@inheritDoc} */
@Override
public DerivativeStructure constant(final double value) {
return factory.constant(value);
}
/** {@inheritDoc} */
@Override
public DerivativeStructure variable(final ParameterDriver driver) {
final Integer index = map.get(driver.getName());
if (index == null) {
return constant(driver.getValue());
} else {
return factory.variable(index.intValue(), driver.getValue());
}
}
};
}
/** Get the sensors list.
* @return the sensors list
*/
protected List<LineSensor> getSensors() {
return sensors;
}
/** Get the number of parameters to refine.
* @return the number of parameters to refine
*/
protected final int getNbParams() {
return this.nbParams;
}
/**
* Get the parameters drivers list.
* @return the selected list of parameters driver
*/
protected final List<ParameterDriver> getDrivers() {
return this.drivers;
}
/**
* Get the derivative structure generator.
* @return the derivative structure generator.
*/
protected final DSGenerator getGenerator() {
return this.generator;
}
/** Get the measurements.
* @return the measurements
*/
protected Observables getMeasurements() {
return measurements;
}
}