// Copyright (C) 2010 Davis E. King (davis@dlib.net) // License: Boost Software License See LICENSE.txt for the full license. #undef DLIB_OPTIMIZATION_SOLVE_QP_UsING_SMO_ABSTRACT_Hh_ #ifdef DLIB_OPTIMIZATION_SOLVE_QP_UsING_SMO_ABSTRACT_Hh_ #include "../matrix.h" #include <map> #include "../unordered_pair.h" namespace dlib{// ---------------------------------------------------------------------------------------- template < typename EXP1, typename EXP2, typename T,longNR,longNC, typename MM, typename L >unsignedlongsolve_qp_using_smo( const matrix_exp<EXP1>& Q, const matrix_exp<EXP2>& b, matrix<T,NR,NC,MM,L>& alpha, T eps,unsignedlongmax_iter ); /*! requires - Q.nr() == Q.nc() - is_col_vector(b) == true - is_col_vector(alpha) == true - b.size() == alpha.size() == Q.nr() - alpha.size() > 0 - min(alpha) >= 0 - eps > 0 - max_iter > 0 ensures - Let C == sum(alpha) (i.e. C is the sum of the alpha values you supply to this function) - This function solves the following quadratic program: Minimize: f(alpha) == 0.5*trans(alpha)*Q*alpha - trans(alpha)*b subject to the following constraints: - sum(alpha) == C (i.e. the sum of alpha values doesn't change) - min(alpha) >= 0 (i.e. all alpha values are nonnegative) Where f is convex. This means that Q should be positive-semidefinite. - The solution to the above QP will be stored in #alpha. - This function uses a simple implementation of the sequential minimal optimization algorithm. It starts the algorithm with the given alpha and it works on the problem until the duality gap (i.e. how far away we are from the optimum solution) is less than eps. So eps controls how accurate the solution is and smaller values result in better solutions. - At most max_iter iterations of optimization will be performed. - returns the number of iterations performed. If this method fails to converge to eps accuracy then the number returned will be max_iter+1. !*/ // ---------------------------------------------------------------------------------------- template < typename EXP1, typename EXP2, typename EXP3, typename T,longNR,longNC, typename MM, typename L,longNR2,longNC2 >unsignedlongsolve_qp4_using_smo( const matrix_exp<EXP1>& A, const matrix_exp<EXP2>& Q, const matrix_exp<EXP3>& b, const matrix_exp<EXP4>& d, matrix<T,NR,NC,MM,L>& alpha, matrix<T,NR2,NC2,MM,L>& lambda, T eps,unsignedlongmax_iter, T max_lambda = std::numeric_limits<T>::infinity() ); /*! requires - A.nc() == alpha.size() - Q.nr() == Q.nc() - is_col_vector(b) == true - is_col_vector(d) == true - is_col_vector(alpha) == true - b.size() == alpha.size() == Q.nr() - d.size() == A.nr() - alpha.size() > 0 - min(alpha) >= 0 - eps > 0 - max_iter > 0 - max_lambda >= 0 ensures - Let C == sum(alpha) (i.e. C is the sum of the alpha values you supply to this function) - This function solves the following quadratic program: Minimize: f(alpha,lambda) == 0.5*trans(alpha)*Q*alpha - trans(alpha)*b + 0.5*trans(lambda)*lambda - trans(lambda)*A*alpha - trans(lambda)*d subject to the following constraints: - sum(alpha) == C (i.e. the sum of alpha values doesn't change) - min(alpha) >= 0 (i.e. all alpha values are nonnegative) - min(lambda) >= 0 (i.e. all lambda values are nonnegative) - max(lambda) <= max_lambda (i.e. all lambda values are less than max_lambda) Where f is convex. This means that Q should be positive-semidefinite. - If you don't want an upper limit on lambda then max_lambda can be set to infinity. - The solution to the above QP will be stored in #alpha and #lambda. - This function uses a simple implementation of the sequential minimal optimization algorithm. It starts the algorithm with the given alpha and it works on the problem until the duality gap (i.e. how far away we are from the optimum solution) is less than eps. So eps controls how accurate the solution is and smaller values result in better solutions. The initial value of lambda is ignored since the optimal lambda can be obtained via a simple closed form expression given alpha. - At most max_iter iterations of optimization will be performed. - returns the number of iterations performed. If this method fails to converge to eps accuracy then the number returned will be max_iter+1. !*/ // ---------------------------------------------------------------------------------------- template < typename EXP1, typename EXP2, typename T,longNR,longNC, typename MM, typename L >unsignedlongsolve_qp_box_constrained( const matrix_exp<EXP1>& Q, const matrix_exp<EXP2>& b, matrix<T,NR,NC,MM,L>& alpha, const matrix<T,NR,NC,MM,L>& lower, const matrix<T,NR,NC,MM,L>& upper, T eps,unsignedlongmax_iter ); /*! requires - Q.nr() == Q.nc() - alpha.size() == lower.size() == upper.size() - is_col_vector(b) == true - is_col_vector(alpha) == true - is_col_vector(lower) == true - is_col_vector(upper) == true - b.size() == alpha.size() == Q.nr() - alpha.size() > 0 - 0 <= min(alpha-lower) - 0 <= max(upper-alpha) - eps > 0 - max_iter > 0 ensures - This function solves the following quadratic program: Minimize: f(alpha) == 0.5*trans(alpha)*Q*alpha + trans(b)*alpha subject to the following box constraints on alpha: - 0 <= min(alpha-lower) - 0 <= max(upper-alpha) Where f is convex. This means that Q should be positive-semidefinite. - The solution to the above QP will be stored in #alpha. - This function uses a combination of a SMO algorithm along with Nesterov's method as the main iteration of the solver. It starts the algorithm with the given alpha and it works on the problem until the derivative of f(alpha) is smaller than eps for each element of alpha or the alpha value is at a box constraint. So eps controls how accurate the solution is and smaller values result in better solutions. - At most max_iter iterations of optimization will be performed. - returns the number of iterations performed. If this method fails to converge to eps accuracy then the number returned will be max_iter+1. !*/ // ---------------------------------------------------------------------------------------- template < typename T,longNR,longNC, typename MM, typename L >unsignedlongsolve_qp_box_constrained_blockdiag( const std::vector<matrix<T,NR,NR,MM,L>>& Q_blocks, const std::vector<matrix<T,NR,NC,MM,L>>& bs, const std::map<unordered_pair<size_t>, matrix<T,NR,NC,MM,L>>& Q_offdiag, std::vector<matrix<T,NR,NC,MM,L>>& alphas, const std::vector<matrix<T,NR,NC,MM,L>>& lowers, const std::vector<matrix<T,NR,NC,MM,L>>& uppers, T eps,unsignedlongmax_iter ); /*! requires - Q_blocks.size() > 0 - Q_blocks.size() == bs.size() == alphas.size() == lowers.size() == uppers.size() - All the matrices in Q_blocks have the same dimensions. Moreover, they are non-empty square matrices. - All the matrices in bs, Q_offdiag, alphas, lowers, and uppers have the same dimensions. Moreover, they are all column vectors. - Q_blocks[0].nr() == alphas[0].size() (i.e. the dimensionality of the column vectors in alphas must match the dimensionality of the square matrices in Q_blocks.) - for all valid i: - 0 <= min(alphas[i]-lowers[i]) - 0 <= max(uppers[i]-alphas[i]) - eps > 0 - max_iter > 0 ensures - This function solves the same QP as solve_qp_box_constrained(), except it is optimized for the case where the Q matrix has a certain sparsity structure. To be precise: - Let Q1 be a block diagonal matrix with the elements of Q_blocks placed along its diagonal, and in the order contained in Q_blocks. - Let Q2 be a matrix with the same size as Q1, except instead of being block diagonal, it is block structured into Q_blocks.nr() by Q_blocks.nc() blocks. If we let (r,c) be the coordinate of each block then each block contains the matrix diagm(Q_offdiag[make_unordered_pair(r,c)]) or the zero matrix if Q_offdiag has no entry for the coordinate (r,c). - Let Q == Q1+Q2 - Let b == the concatenation of all the vectors in bs into one big vector. - Let alpha == the concatenation of all the vectors in alphas into one big vector. - Let lower == the concatenation of all the vectors in lowers into one big vector. - Let upper == the concatenation of all the vectors in uppers into one big vector. - Then this function solves the following quadratic program: Minimize: f(alpha) == 0.5*trans(alpha)*Q*alpha + trans(b)*alpha subject to the following box constraints on alpha: - 0 <= min(alpha-lower) - 0 <= max(upper-alpha) Where f is convex. This means that Q should be positive-semidefinite. - More specifically, this function is identical to solve_qp_box_constrained(Q, b, alpha, lower, upper, eps, max_iter), except that it runs faster since it avoids unnecessary computation by taking advantage of the sparsity structure in the QP. - The solution to the above QP will be stored in #alphas. - This function uses a combination of a SMO algorithm along with Nesterov's method as the main iteration of the solver. It starts the algorithm with the given alpha and it works on the problem until the derivative of f(alpha) is smaller than eps for each element of alpha or the alpha value is at a box constraint. So eps controls how accurate the solution is and smaller values result in better solutions. - At most max_iter iterations of optimization will be performed. - returns the number of iterations performed. If this method fails to converge to eps accuracy then the number returned will be max_iter+1. !*/ // ---------------------------------------------------------------------------------------- template < typename EXP1, typename EXP2, typename T,longNRa,longNRb >unsignedlongfind_gap_between_convex_hulls( const matrix_exp<EXP1>& A, const matrix_exp<EXP2>& B, matrix<T,NRa,1>& cA, matrix<T,NRb,1>& cB, constdoubleeps, constunsignedlongmax_iter = 1000 ); /*! requires - A.nr() == B.nr() - A.size() != 0 - B.size() != 0 - eps > 0 - max_iter > 0 ensures - If you think of A and B as sets of column vectors, then we can identify the convex sets hullA and hullB, which are the convex hulls of A and B respectively. This function finds the pair of points in hullA and hullB that are nearest to each other. To be precise, this function solves the following quadratic program: Minimize: f(cA,cB) == length_squared(A*cA - B*cB) subject to the following constraints on cA and cB: - is_col_vector(cA) == true && cA.size() == A.nc() - is_col_vector(cB) == true && cB.size() == B.nc() - sum(cA) == 1 && min(cA) >= 0 - sum(cB) == 1 && min(cB) >= 0 - This function uses an iterative block coordinate descent algorithm to solve the QP. It runs until either max_iter iterations have been performed or the QP is solved to at least eps accuracy. - returns the number of iterations performed. If this method fails to converge to eps accuracy then the number returned will be max_iter+1. !*/ // ----------------------------------------------------------------------------------------}#endif // DLIB_OPTIMIZATION_SOLVE_QP_UsING_SMO_ABSTRACT_Hh_