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Encapsulate realization results

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In the process, spruce up our realization diagnostics logging and factor
out some of the repetitive code in the examples, because we're already
changing those parts of the code to adapt them to the new encapsulation.

This commit changes the example output format. I've checked by hand that
the output is rearranged but not meaningfully changed.
This commit is contained in:
Aaron Fenyes 2025-06-09 22:21:34 -07:00
parent 4cb3262555
commit 679c421d04
8 changed files with 176 additions and 103 deletions
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53
app-proto/examples/kaleidocycle.rs
View file

@ -1,30 +1,37 @@
mod common;
use nalgebra::{DMatrix, DVector};
use dyna3::engine::{Q, examples::realize_kaleidocycle};
use common::{
print_config,
print_gram_matrix,
print_realization_diagnostics,
print_title
};
use dyna3::engine::{Realization, examples::realize_kaleidocycle};
fn main() {
const SCALED_TOL: f64 = 1.0e-12;
let (config, tangent, success, history) = realize_kaleidocycle(SCALED_TOL);
print!("Completed Gram matrix:{}", config.tr_mul(&*Q) * &config);
print!("Configuration:{}", config);
if success {
println!("Target accuracy achieved!");
} else {
println!("Failed to reach target accuracy");
let realization_result = realize_kaleidocycle(SCALED_TOL);
print_title("Kaleidocycle");
print_realization_diagnostics(&realization_result);
if let Ok(Realization { config, tangent }) = realization_result.result {
// print the completed Gram matrix and the realized configuration
print_gram_matrix(&config);
print_config(&config);
// find the kaleidocycle's twist motion by projecting onto the tangent
// space
const N_POINTS: usize = 12;
let up = DVector::from_column_slice(&[0.0, 0.0, 1.0, 0.0]);
let down = -&up;
let twist_motion: DMatrix<_> = (0..N_POINTS).step_by(4).flat_map(
|n| [
tangent.proj(&up.as_view(), n),
tangent.proj(&down.as_view(), n+1)
]
).sum();
let normalization = 5.0 / twist_motion[(2, 0)];
println!("\nTwist motion:{}", (normalization * twist_motion).to_string().trim_end());
}
println!("Steps: {}", history.scaled_loss.len() - 1);
println!("Loss: {}\n", history.scaled_loss.last().unwrap());
// find the kaleidocycle's twist motion by projecting onto the tangent space
const N_POINTS: usize = 12;
let up = DVector::from_column_slice(&[0.0, 0.0, 1.0, 0.0]);
let down = -&up;
let twist_motion: DMatrix<_> = (0..N_POINTS).step_by(4).flat_map(
|n| [
tangent.proj(&up.as_view(), n),
tangent.proj(&down.as_view(), n+1)
]
).sum();
let normalization = 5.0 / twist_motion[(2, 0)];
print!("Twist motion:{}", normalization * twist_motion);
}