slam dataset

harshangrjn · May 8, 2024 · e1b7511 · e1b7511
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,11 +1,14 @@
 LaplacianOpt.jl Change Log
 =========================
 
-### Staged
-- Solver logging option added in `optimizer.jl`
+### v0.7.0
+- Solver logging option added in `optimizers.jl`
 - Added option `minors_on_augment_edges` to include principal minor cuts only corresponding to vertices with augmentable edges - helps in reducing run times
 - Cleaned up `get_minor_idx` function to make it more efficient 
 - Function `_PMinorIdx` gets updated accordingly
+- Minor bug fix in `heuristics.jl`
+- Minor bug fix in handling 1x1 principal minors
+- Added SLAM dataset instances
 
 ### v0.6.2 
 - Minor fix for testing eigen cut orthogonality if `projected_eigen_cuts` is active
@@ -92,13 +95,13 @@ LaplacianOpt.jl Change Log
 ### v0.1.6
 - Fixed Tikzgraph issue in tests 
 - Transitioned from LightGraphs to Graphs
-- Updated and cleaned up `examples/optimizer.jl`
+- Updated and cleaned up `examples/optimizers.jl`
 - `src/data.jl` cleanup for handling `"optimizer"`
 - Minor docs update 
 
 ### v0.1.5
 - Added CITATION.bib
-- Added support for Gurobi MIP solver in `examples/optimizer.jl` 
+- Added support for Gurobi MIP solver in `examples/optimizers.jl` 
 - Updated `LO` to `LOpt`
 - `lopt_model.jl` function calls updated with `LOpt`
 - Minor docs cleanups

diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "LaplacianOpt"
 uuid = "bb20392f-64fb-4001-92e8-14b3aedd5a9e"
 authors = ["Harsha Nagarajan"]
-version = "0.6.2"
+version = "0.7.0"
 
 [deps]
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"

diff --git a/examples/instances/100_nodes/100_1.json b/examples/instances/100_nodes/100_1.json
diff --git a/examples/instances/100_nodes/100_1_old.json b/examples/instances/100_nodes/100_1_old.json
diff --git a/examples/instances/100_nodes/100_1_test.json b/examples/instances/100_nodes/100_1_test.json
@@ -0,0 +1,4 @@
+{"edges_to_augment":[[[10,67],1.0],[[59,78],1.0],[[69,90],1.0],[[38,52],1.0],[[1,71],1.0],[[54,93],1.0],[[36,50],1.0],[[21,71],1.0],[[24,43],1.0],[[13,84],1.0]],
+"num_nodes":100,
+"augment_budget": 5,
+"edges_existing":[[[1,2],1.0],[[2,3],1.0],[[3,4],1.0],[[4,5],1.0],[[5,6],1.0],[[6,7],1.0],[[7,8],1.0],[[8,9],1.0],[[9,10],1.0],[[10,11],1.0],[[11,12],1.0],[[12,13],1.0],[[13,14],1.0],[[14,15],1.0],[[15,16],1.0],[[16,17],1.0],[[17,18],1.0],[[18,19],1.0],[[19,20],1.0],[[20,21],1.0],[[21,22],1.0],[[22,23],1.0],[[23,24],1.0],[[24,25],1.0],[[25,26],1.0],[[26,27],1.0],[[27,28],1.0],[[28,29],1.0],[[29,30],1.0],[[30,31],1.0],[[31,32],1.0],[[32,33],1.0],[[33,34],1.0],[[34,35],1.0],[[35,36],1.0],[[36,37],1.0],[[37,38],1.0],[[38,39],1.0],[[39,40],1.0],[[40,41],1.0],[[41,42],1.0],[[42,43],1.0],[[43,44],1.0],[[44,45],1.0],[[45,46],1.0],[[46,47],1.0],[[47,48],1.0],[[48,49],1.0],[[49,50],1.0],[[50,51],1.0],[[51,52],1.0],[[52,53],1.0],[[53,54],1.0],[[54,55],1.0],[[55,56],1.0],[[56,57],1.0],[[57,58],1.0],[[58,59],1.0],[[59,60],1.0],[[60,61],1.0],[[61,62],1.0],[[62,63],1.0],[[63,64],1.0],[[64,65],1.0],[[65,66],1.0],[[66,67],1.0],[[67,68],1.0],[[68,69],1.0],[[69,70],1.0],[[70,71],1.0],[[71,72],1.0],[[72,73],1.0],[[73,74],1.0],[[74,75],1.0],[[75,76],1.0],[[76,77],1.0],[[77,78],1.0],[[78,79],1.0],[[79,80],1.0],[[80,81],1.0],[[81,82],1.0],[[82,83],1.0],[[83,84],1.0],[[84,85],1.0],[[85,86],1.0],[[86,87],1.0],[[87,88],1.0],[[88,89],1.0],[[89,90],1.0],[[90,91],1.0],[[91,92],1.0],[[92,93],1.0],[[93,94],1.0],[[94,95],1.0],[[95,96],1.0],[[96,97],1.0],[[97,98],1.0],[[98,99],1.0],[[99,100],1.0]]}
diff --git a/examples/instances/SLAM_dataset/CSAIL.json b/examples/instances/SLAM_dataset/CSAIL.json
diff --git a/examples/instances/SLAM_dataset/ais2klinik.json b/examples/instances/SLAM_dataset/ais2klinik.json
diff --git a/examples/instances/SLAM_dataset/intel.json b/examples/instances/SLAM_dataset/intel.json
diff --git a/examples/optimizer.jl → examples/optimizers.jl b/examples/optimizer.jl → examples/optimizers.jl
diff --git a/examples/run_examples.jl b/examples/run_examples.jl
@@ -3,7 +3,7 @@ using JuMP
 using CPLEX
 # using GLPK
 
-include("optimizer.jl")
+include("optimizers.jl")
 
 #-----------------------------------#
 #            MIP solver             #
@@ -18,13 +18,23 @@ lopt_optimizer = get_cplex(solver_log = true)
  Option I: Let the package parse a JSON file and obtain the data dictionary (data_dict)
  Sample JSON format: Check examples/instances
 =#
+
+# Spanning tree dataset
 function data_I(num_nodes::Int, instance::Int)
     # Data format has to be as given in this JSON file
     file_path =
         joinpath(@__DIR__, "instances/$(num_nodes)_nodes/$(num_nodes)_$(instance).json")
     data_dict = LOpt.parse_file(file_path)
-    # augment_budget = (num_nodes - 1) # spanning tree constraint
-    augment_budget = 5
+    augment_budget = (num_nodes - 1) # spanning tree constraint
+    return data_dict, augment_budget
+end
+
+# Loading SLAM dataset
+function data_SLAM(instance::String)
+    # Data format has to be as given in this JSON file
+    file_path = joinpath(@__DIR__, "instances/SLAM_dataset/$(instance).json")
+    data_dict = LOpt.parse_file(file_path)
+    augment_budget = 10
     return data_dict, augment_budget
 end
 
@@ -44,9 +54,10 @@ end
 #-------------------------------#
 #      User-defined params      #
 #-------------------------------#
-num_nodes = 100
+num_nodes = 8
 instance = 1
 data_dict, augment_budget = data_I(num_nodes, instance)
+# data_dict, augment_budget = data_SLAM("CSAIL") # "CSAIL", "intel", "ais2klinik"
 # data_dict, augment_budget = data_II()
 
 params = Dict{String,Any}("data_dict" => data_dict, "augment_budget" => augment_budget)

diff --git a/src/constraints.jl b/src/constraints.jl
@@ -98,7 +98,7 @@ function constraint_lazycallback_wrapper(lom::LaplacianOptModel; optimizer = not
             if !(lom.options.formulation_type == "max_span_tree")
                 if (
                     size(lom.options.eigen_cuts_sizes)[1] > 0 &&
-                    minimum(lom.options.eigen_cuts_sizes) >= 2
+                    minimum(lom.options.eigen_cuts_sizes) >= 1
                 ) || lom.options.sdp_relaxation
                     W_val = JuMP.callback_value.(Ref(cb_cuts), lom.variables[:W_var])
                     LOpt.constraint_eigen_cuts(W_val, cb_cuts, lom)

diff --git a/src/heuristics.jl b/src/heuristics.jl
@@ -535,7 +535,10 @@ function refinement_tree(
                 )
             end
         else
-            Memento.eror(_LOGGER, "Augment budget should be greater than one.")
+            Memento.error(
+                _LOGGER,
+                "For kopt_parameter = 2, augment budget should be >= 2",
+            )
         end
     elseif kopt_parameter == 3
         if augment_budget >= 3
@@ -560,7 +563,7 @@ function refinement_tree(
             Memento.error(_LOGGER, "Augment budget should be greater than two.")
         end
     else
-        Memento.eror(_LOGGER, "kopt_parameter > 3 is currently not supported.")
+        Memento.error(_LOGGER, "kopt_parameter > 3 is currently not supported.")
     end
     return Matrix(Graphs.adjacency_matrix(G)),
     LOpt.algebraic_connectivity(

diff --git a/src/lopt_model.jl b/src/lopt_model.jl
@@ -182,7 +182,7 @@ end
 function lazycallback_status(lom::LaplacianOptModel)
     if (
            size(lom.options.eigen_cuts_sizes)[1] > 0 &&
-           minimum(lom.options.eigen_cuts_sizes) >= 2
+           minimum(lom.options.eigen_cuts_sizes) >= 1
        ) ||
        lom.options.topology_flow_cuts ||
        lom.options.soc_linearized_cuts ||