multiGrid_example.cpp

We consider the Poisson boundary value problem (for simplicity here only with Dirichlet conditions):

\begin{eqnarray*} -\Delta u &=& f \quad \text{in} \quad \Omega, \\ u &=& g \quad \text{on} \quad \partial\Omega. \end{eqnarray*}

Its variational form is: Find \( u\in V_g \) such that

\[ \int_\Omega \nabla u \nabla v \text{ d} x = \int_\Omega f v \text{ d}x \]

for all \( u\in V_0 \).

For a hierarchy of grids with levels \(\ell=0 \mbox{ (=coarsest)}, 1,2,\ldots,L \mbox{ (=finest)} \), we have subspaces \( V_\ell \subset H^1(\Omega) \) and

\[ V_{\ell,g} = V_\ell \cap V_g \quad\mbox{and}\quad V_{\ell,0} = V_\ell \cap V_0. \]

On each of the levels, we have a linear system

\[ A_\ell \; \underline u_\ell = \underline f_\ell. \]

The relation between these spaces are realized for \( \ell = 0,1,\ldots,L-1 \) by transfer matrices

\[ P_\ell \in \mathbb R^{\dim V_{\ell+1} \times \dim V_\ell}\;, \]

which represent the canonical embedding

\[ V_{\ell} \rightarrow V_{\ell+1}. \]

Having the matrix \( A_L \) on the finest grid level, we can set up the fine-grid matrices via the Galerkin principle:

\[ A_{\ell} = P_\ell^{\top} A_{\ell+1} P_\ell. \qquad (*) \]

Now, we discuss the example file multiGrid_example.cpp. After reading the command line arguments, we read in the geometry file and modify the geometry as desired:

    gsMultiPatch<>::uPtr mpPtr = gsReadFile<>(geometry);

    for (index_t i=0; i<splitPatches; ++i)
    {
        gsInfo << "split patches uniformly... " << std::flush;
        mp = mp.uniformSplit();
    }

Then, we set up the right-hand-side \( f \) and a gsBoundaryConditions object based on the command line arguments:

    // Right-hand-side
    gsFunctionExpr<> f( "2*sin(x)*cos(y)", mp.geoDim() );
 
    // Dirichlet function
    gsFunctionExpr<> gD( "sin(x)*cos(y)", mp.geoDim() );
 
    // Neumann
    gsConstantFunction<> gN( 1.0, mp.geoDim() );
 
    gsBoundaryConditions<> bc;

Then, we extract the basis from the multi patch object to obtain a multi basis.

    gsMultiBasis<> mb(mp);

There are a few possibilities to modify the geometry, which can be activated using the command line and which can found in the full listings.

Since the multigrid solver also works for a discontinuous Galerkin (dG) setting, we allow to modify the discretizations in order to obtain non-matching discretizations at the interfaces as a more appropriate test case for a dG setting.

    if (nonMatching)
    {
        gsInfo << "Option NonMatching: Make uniform refinement for every third patch... " << std::flush;
        for (size_t i = 0; i < mb.nBases(); ++i)
            if ( i%3 == 0 )
                mb[i].uniformRefine();
        gsInfo << "done.\n";
        --refinements;
 
        gsInfo << "Option NonMatching: Increase spline degree for every other third patch... " << std::flush;
        for (size_t i = 0; i < mb.nBases(); ++i)
            if ( i%3 == 1 )
                mb[i].setDegreePreservingMultiplicity(degree+1);
        gsInfo << "done.\n";
 
        if (!dg)
        {
            gsInfo << "\nThe option --NonMatching does not allow a conforming discretization. Thus, option --DG is required.\n";
            return EXIT_FAILURE;
        }
 
    }

We set the spline degree as required at the command line. Moreover, we apply the given number of uniform refinement steps.

    for ( size_t i = 0; i < mb.nBases(); ++ i )
        mb[i].setDegreePreservingMultiplicity(degree);
 
    for ( index_t i = 0; i < refinements; ++i )
        mb.uniformRefine();

Now, we assemble the linear system and the right-hand side using the gsPoissionAssembler.

    gsPoissonAssembler<> assembler(
        mp,
        mb,
        bc,
        f,
        (dirichlet::strategy) cmd.getInt("MG.DirichletStrategy"),
        (iFace::strategy)     cmd.getInt("MG.InterfaceStrategy")
    );
    assembler.assemble();

Here, we set up a vector that stores the transfer matrices. Moreover, we set up data structures that are needed for the subspace corrected mass smoother.

    std::vector< gsSparseMatrix<real_t,RowMajor> > transferMatrices;
    std::vector< gsMultiBasis<real_t> > multiBases;  // Needed for setupSubspaceCorrectedMassSmoother
    std::vector<real_t> patchLocalDampingParameters; // Needed for setupSubspaceCorrectedMassSmoother

The class gsGridHierarchy allows to set up a grid hierarchy. In a Finite Element setting, the coarsening of meshes is a non-trivial task. For tensor-product grids in Isogeometric Analysis, the coarsening of grids is a rather simple task. Therefore, we use a coarsening algorithm (alternatively, the class also provides refinement strategies).

The function has to know the boundary conditions and the assembler options in order to know about the eliminated dofs (particularly on the Dirichlet boundary) and the coupled dofs on the interfaces between the patches.

In any case, we have to export the transfer matrices \( P_\ell \). The subspace corrected mass smoother also requires the gsMultiBasis objects for all grid levels.

If one wants to apply this to systems of PDEs, it is expected to have individual grid hierarchies for all of the variables.

We use a unnamed temporary object, which means that the object cleaned up immediately after exporting the data.

    gsGridHierarchy<>::buildByCoarsening(give(mb), bc, cmd.getGroup("MG"))
        .moveMultiBasesTo(multiBases)
        .moveTransferMatricesTo(transferMatrices);

Having the transfer matrices, we set up the multigrid object. The class gsMultiGrid is purely algebraic, so it assumes as inputs only matrices (as gsSparseMatrix or gsLinearOperator for matrix-free implementations) and vectors (as a \gsMatrix).

It is possible to provide the stiffness matrices for all grid levels, the prolongation operators, the restriction operators and the solver for the coarsest grid level, all of them as gsLinearOperator.

However, it is sufficient to provide the stiffness matrix for the finest grid as a gsSparseMatrix and all of the transfer matrices as a RowMajor gsSparseMatrix, as we do here. In this case

• the stiffness matrices on the coarse levels are constructed by the Galerkin principle (*),
• the transfer matrices are used as prolongation operators, and
• the transposed transfer matrices are used as restriction operators.

With the member setOptions, we provide various settings, like the number of presmoothing steps, the number of post smoothing steps, and the type of the cycle (1 = V-cycle and 2 = W-cycle). These options can also be set using the corresponding member functions.

    gsMultiGridOp<>::Ptr mg = gsMultiGridOp<>::make( assembler.matrix(), transferMatrices );
    mg->setOptions( cmd.getGroup("MG") );

If we do not provide a coarse solver explicitly, a LU solver will be set up automatically with the first multigrid cycle that is applied. Since we are solving an elliptic problem in this example file, we explicitly set up a Cholesky solver.

Here, mg->matrix(0) refers to the matrix on the coarsest grid level.

    mg->setCoarseSolver( makeSparseCholeskySolver( mg->matrix(0) ) );

The smoothers have to be provided for the grid levels \( \ell=1, 2, \ldots, L \). Depending on the command line options, we use

• a Richardson smoother,
• a Jacobi smoother,
• a Gauss-Seidel smoother,
• an incomplete LU smoother,
• a subspace corrected mass smoother, or
• a hybrid smoother (subspace corrected mass smoother + Gauss-Seidel smoother).

The subspace corrected mass smoother is a multi-patch version as introduced in

• C. Hofreither and S. Takacs. Robust multigrid for Isogeometric Analysis based on stable splittings of spline spaces. SIAM J. on Numerical Analysis, vol. 55 (4), p. 2004 – 2024, 2017.
• S. Takacs. Robust approximation error estimates and multigrid solvers for isogeometric multi-patch discretizations. Mathematical Models and Methods in Applied Sciences, vol. 28 (10), p. 1899 – 1928, 2018.

    for (index_t i = 1; i < mg->numLevels(); ++i)
    {
        gsPreconditionerOp<>::Ptr smootherOp;
        if ( smoother == "Richardson" || smoother == "r" )
            smootherOp = makeRichardsonOp(mg->matrix(i));
        else if ( smoother == "Jacobi" || smoother == "j" )
            smootherOp = makeJacobiOp(mg->matrix(i));
        else if ( smoother == "GaussSeidel" || smoother == "gs" )
            smootherOp = makeGaussSeidelOp(mg->matrix(i));
        else if ( smoother == "IncompleteLU" || smoother == "ilu" )
            smootherOp = makeIncompleteLUOp(mg->matrix(i));
        else if ( smoother == "SubspaceCorrectedMassSmoother" || smoother == "scms" )
            smootherOp = setupSubspaceCorrectedMassSmoother( i, mg->numLevels(), mg->matrix(i),
                multiBases[i], bc, cmd.getGroup("MG"), patchLocalDampingParameters );
        else if ( smoother == "Hybrid" || smoother == "hyb" )
            smootherOp = gsCompositePrecOp<>::make(
                makeGaussSeidelOp(mg->matrix(i)),
                setupSubspaceCorrectedMassSmoother( i, mg->numLevels(), mg->matrix(i),
                    multiBases[i], bc, cmd.getGroup("MG"), patchLocalDampingParameters )
                );

We now provide the smoother with the respective options (like damping parameters).

        smootherOp->setOptions( cmd.getGroup("MG") );

Finally, we provide the smoother to the multigrid object.

        mg->setSmoother(i, smootherOp);
    } // end for

We use a random vector as initial guess.

    gsMatrix<> x;
    x.setRandom( assembler.matrix().rows(), 1 );

As a next step, we solve the linear system using either a conjugate gradient solver with multigrid preconditioner or by iterating multigrid itself. The latter is to be represented as preconditioned gradient (=Richardson) solver.

    if (iterativeSolver=="cg")
        gsConjugateGradient<>( assembler.matrix(), mg )
            .setOptions( cmd.getGroup("Solver") )
            .solveDetailed( assembler.rhs(), x, errorHistory );
    else if (iterativeSolver=="d")
        gsGradientMethod<>( assembler.matrix(), mg )
            .setOptions( cmd.getGroup("Solver") )
            .solveDetailed( assembler.rhs(), x, errorHistory );

Annotated source file

Here is the full file examples/multiGrid_example.cpp. Clicking on a function or class name will lead you to its reference documentation.

 
#include <ctime>
 
#include <gismo.h>
 
using namespace gismo;
 
gsPreconditionerOp<>::Ptr setupSubspaceCorrectedMassSmoother(index_t, index_t, const gsSparseMatrix<>&,
    const gsMultiBasis<>&, const gsBoundaryConditions<>&, const gsOptionList&, std::vector<real_t>& );
 
int main(int argc, char *argv[])
{
    /************** Define command line options *************/
 
    std::string geometry("domain2d/yeti_mp2.xml");
    index_t splitPatches = 0;
    real_t stretchGeometry = 1;
    index_t xRefine = 0;
    index_t refinements = 3;
    index_t degree = 2;
    bool nonMatching = false;
    bool dg = false;
    bool nitsche = false;
    index_t levels = -1;
    index_t cycles = 1;
    index_t presmooth = 1;
    index_t postsmooth = 1;
    bool extrasmooth = false;
    std::string smoother("GaussSeidel");
    real_t damping = -1;
    real_t scaling = 0.12;
    std::string iterativeSolver("cg");
    real_t tolerance = 1.e-8;
    index_t maxIterations = 100;
    std::string boundaryConditions("d");
    std::string out;
    bool plot = false;
 
    gsCmdLine cmd("Solves a PDE with an isogeometric discretization using a multigrid solver.");
    cmd.addString("g", "Geometry",              "Geometry file", geometry);
    cmd.addInt   ("",  "SplitPatches",          "Split every patch that many times in 2^d patches", splitPatches);
    cmd.addReal  ("",  "StretchGeometry",       "Stretch geometry in x-direction by the given factor", stretchGeometry);
    cmd.addInt   ("",  "XRefine",               "Refine in x-direction by adding that many knots to every knot span", xRefine);
    cmd.addInt   ("r", "Refinements",           "Number of uniform h-refinement steps to perform before solving", refinements);
    cmd.addInt   ("p", "Degree",                "Degree of the B-spline discretization space", degree);
    cmd.addSwitch("",  "NonMatching",           "Set up a non-matching multi-patch discretization", nonMatching);
    cmd.addSwitch("",  "DG",                    "Use discontinuous Galerkin (SIPG) for coupling the patches", dg);
    cmd.addSwitch("",  "Nitsche",               "Use Nitsche method for Dirichlet boundary conditions", nitsche);
    cmd.addInt   ("l", "MG.Levels",             "Number of levels to use for multigrid iteration", levels);
    cmd.addInt   ("c", "MG.NumCycles",          "Number of multi-grid cycles", cycles);
    cmd.addInt   ("",  "MG.NumPreSmooth",       "Number of pre-smoothing steps", presmooth);
    cmd.addInt   ("",  "MG.NumPostSmooth",      "Number of post-smoothing steps", postsmooth);
    cmd.addSwitch("",  "MG.Extrasmooth",        "Doubles the number of smoothing steps for each coarser level", extrasmooth);
    cmd.addString("s", "MG.Smoother",           "Smoothing method", smoother);
    cmd.addReal  ("",  "MG.Damping",            "Damping factor for the smoother", damping);
    cmd.addReal  ("",  "MG.Scaling",            "Scaling factor for the subspace corrected mass smoother", scaling);
    cmd.addString("i", "IterativeSolver",       "Iterative solver: apply multigrid directly (d) or as a preconditioner for "
                                                "conjugate gradient (cg)", iterativeSolver);
    cmd.addReal  ("t", "Solver.Tolerance",      "Stopping criterion for linear solver", tolerance);
    cmd.addInt   ("",  "Solver.MaxIterations",  "Stopping criterion for linear solver", maxIterations);
    cmd.addString("b", "BoundaryConditions",    "Boundary conditions", boundaryConditions);
    cmd.addString("",  "out",                   "Write solution and used options to file", out);
    cmd.addSwitch(     "plot",                  "Plot the result with Paraview", plot);
 
    try { cmd.getValues(argc,argv); } catch (int rv) { return rv; }
 
    // Default case is levels:=refinements, so replace invalid default accordingly
    if (levels <0) { levels = refinements; cmd.setInt( "MG.Levels", levels ); }
    // The smoothers know their defaults, so remove the invalid default
    if (damping<0) { cmd.remove( "MG.Damping" ); }
 
    // Define assembler options
    cmd.remove( "DG" );
    cmd.addInt( "MG.InterfaceStrategy", "", (index_t)( dg      ? iFace::dg          : iFace::conforming      ) );
    cmd.addInt( "MG.DirichletStrategy", "", (index_t)( nitsche ? dirichlet::nitsche : dirichlet::elimination ) );
 
    if ( ! gsFileManager::fileExists(geometry) )
    {
        gsInfo << "Geometry file could not be found.\n";
        gsInfo << "I was searching in the current directory and in: " << gsFileManager::getSearchPaths() << "\n";
        return EXIT_FAILURE;
    }
 
    gsInfo << "Run multiGrid_example with options:\n" << cmd << "\n";
 
    /******************* Define geometry ********************/
 
    gsInfo << "Define geometry... " << std::flush;
 
    gsMultiPatch<>::uPtr mpPtr = gsReadFile<>(geometry);
    if (!mpPtr)
    {
        gsInfo << "No geometry found in file " << geometry << ".\n";
        return EXIT_FAILURE;
    }
    gsMultiPatch<>& mp = *mpPtr;
 
    for (index_t i=0; i<splitPatches; ++i)
    {
        gsInfo << "split patches uniformly... " << std::flush;
        mp = mp.uniformSplit();
    }
 
    // This allows to strech a single-patch geometry in x-direction.
    if (stretchGeometry!=1)
    {
       gsInfo << "and stretch it... " << std::flush;
       for (size_t i=0; i!=mp.nPatches(); ++i)
           const_cast<gsGeometry<>&>(mp[i]).scale(stretchGeometry,0);
       // Const cast is allowed since the object itself is not const. Stretching the
       // overall domain keeps its topology.
    }
 
    gsInfo << "done.\n";
 
    /************** Define boundary conditions **************/
 
    gsInfo << "Define boundary conditions... " << std::flush;
 
    // Right-hand-side
    gsFunctionExpr<> f( "2*sin(x)*cos(y)", mp.geoDim() );
 
    // Dirichlet function
    gsFunctionExpr<> gD( "sin(x)*cos(y)", mp.geoDim() );
 
    // Neumann
    gsConstantFunction<> gN( 1.0, mp.geoDim() );
 
    gsBoundaryConditions<> bc;
    {
        const index_t len = boundaryConditions.length();
        index_t i = 0;
        for (gsMultiPatch<>::const_biterator it = mp.bBegin(); it < mp.bEnd(); ++it)
        {
            char b_local;
            if ( len == 1 )
                b_local = boundaryConditions[0];
            else if ( i < len )
                b_local = boundaryConditions[i];
            else
            {
                gsInfo << "\nNot enough boundary conditions given.\n";
                return EXIT_FAILURE;
            }
 
            if ( b_local == 'd' )
                bc.addCondition( *it, condition_type::dirichlet, &gD );
            else if ( b_local == 'n' )
                bc.addCondition( *it, condition_type::neumann, &gN );
            else
            {
                gsInfo << "\nInvalid boundary condition given; only 'd' (Dirichlet) and 'n' (Neumann) are supported.\n";
                return EXIT_FAILURE;
            }
 
            ++i;
        }
        if ( len > i )
            gsInfo << "\nToo many boundary conditions have been specified. Ignoring the remaining ones.\n";
        gsInfo << "done. "<<i<<" boundary conditions set.\n";
    }
 
 
    /************ Setup bases and adjust degree *************/
 
    gsMultiBasis<> mb(mp);
 
    if (xRefine)
    {
        if (mp.nPatches() > 1)
        {
            gsInfo << "\nThe option --XRefine is only available for single-patch geometries..\n";
            return EXIT_FAILURE;
        }
        gsInfo << "Option --XRefine: Refine the grid in x-direction by interting " << xRefine
               << " knots in every knot span... " << std::flush;
        mb[0].component(0).uniformRefine(xRefine,1);
        gsInfo << "done.\n";
    }
 
    gsInfo << "Setup bases and adjust degree... " << std::flush;
 
    for ( size_t i = 0; i < mb.nBases(); ++ i )
        mb[i].setDegreePreservingMultiplicity(degree);
 
    for ( index_t i = 0; i < refinements; ++i )
        mb.uniformRefine();
 
    gsInfo << "done.\n";
 
    if (nonMatching)
    {
        gsInfo << "Option NonMatching: Make uniform refinement for every third patch... " << std::flush;
        for (size_t i = 0; i < mb.nBases(); ++i)
            if ( i%3 == 0 )
                mb[i].uniformRefine();
        gsInfo << "done.\n";
        --refinements;
 
        gsInfo << "Option NonMatching: Increase spline degree for every other third patch... " << std::flush;
        for (size_t i = 0; i < mb.nBases(); ++i)
            if ( i%3 == 1 )
                mb[i].setDegreePreservingMultiplicity(degree+1);
        gsInfo << "done.\n";
 
        if (!dg)
        {
            gsInfo << "\nThe option --NonMatching does not allow a conforming discretization. Thus, option --DG is required.\n";
            return EXIT_FAILURE;
        }
 
    }
 
    /********* Setup assembler and assemble matrix **********/
 
    gsInfo << "Setup assembler and assemble matrix... " << std::flush;
 
    gsPoissonAssembler<> assembler(
        mp,
        mb,
        bc,
        f,
        (dirichlet::strategy) cmd.getInt("MG.DirichletStrategy"),
        (iFace::strategy)     cmd.getInt("MG.InterfaceStrategy")
    );
    assembler.assemble();
 
    gsInfo << "done.\n";
 
    /**************** Setup solver and solve ****************/
 
    gsInfo << "Setup solver and solve... " << std::flush;
 
    std::vector< gsSparseMatrix<real_t,RowMajor> > transferMatrices;
    std::vector< gsMultiBasis<real_t> > multiBases;  // Needed for setupSubspaceCorrectedMassSmoother
    std::vector<real_t> patchLocalDampingParameters; // Needed for setupSubspaceCorrectedMassSmoother
 
    // Setup grid hiearachy by coarsening of the given matrix
    // We move the constructed hiearchy of multi bases into a variable (only required for the subspace smoother)
    // Then we move the transfer matrices into a variable
    gsGridHierarchy<>::buildByCoarsening(give(mb), bc, cmd.getGroup("MG"))
        .moveMultiBasesTo(multiBases)
        .moveTransferMatricesTo(transferMatrices);
 
    // Setup the multigrid solver
    gsMultiGridOp<>::Ptr mg = gsMultiGridOp<>::make( assembler.matrix(), transferMatrices );
    mg->setOptions( cmd.getGroup("MG") );
 
    // Since we are solving a symmetric positive definite problem,we can use a Cholesky solver
    // (instead of the LU solver that would be created by default).
    //
    // mg->matrix(0) gives the matrix for the coarsest grid level (=level 0).
    mg->setCoarseSolver( makeSparseCholeskySolver( mg->matrix(0) ) );
 
    // Set up of the smoothers
    // This has to be done for each grid level separately
    for (index_t i = 1; i < mg->numLevels(); ++i)
    {
        gsPreconditionerOp<>::Ptr smootherOp;
        if ( smoother == "Richardson" || smoother == "r" )
            smootherOp = makeRichardsonOp(mg->matrix(i));
        else if ( smoother == "Jacobi" || smoother == "j" )
            smootherOp = makeJacobiOp(mg->matrix(i));
        else if ( smoother == "GaussSeidel" || smoother == "gs" )
            smootherOp = makeGaussSeidelOp(mg->matrix(i));
        else if ( smoother == "IncompleteLU" || smoother == "ilu" )
            smootherOp = makeIncompleteLUOp(mg->matrix(i));
        else if ( smoother == "SubspaceCorrectedMassSmoother" || smoother == "scms" )
            smootherOp = setupSubspaceCorrectedMassSmoother( i, mg->numLevels(), mg->matrix(i),
                multiBases[i], bc, cmd.getGroup("MG"), patchLocalDampingParameters );
        else if ( smoother == "Hybrid" || smoother == "hyb" )
            smootherOp = gsCompositePrecOp<>::make(
                makeGaussSeidelOp(mg->matrix(i)),
                setupSubspaceCorrectedMassSmoother( i, mg->numLevels(), mg->matrix(i),
                    multiBases[i], bc, cmd.getGroup("MG"), patchLocalDampingParameters )
                );
        else
        {
            gsInfo << "\n\nThe chosen smoother is unknown.\n\nKnown are:\n  Richardson (r)\n  Jacobi (j)\n  GaussSeidel (gs)"
                      "\n  IncompleteLU (ilu)\n  SubspaceCorrectedMassSmoother (scms)\n  Hybrid (hyb)\n\n";
            return EXIT_FAILURE;
        }
 
        smootherOp->setOptions( cmd.getGroup("MG") );
 
        // Handle the extra-smooth option. On the finest grid level, there is nothing to handle.
        if (extrasmooth && i < mg->numLevels()-1)
        {
            smootherOp->setNumOfSweeps( 1 << (mg->numLevels()-1-i) );
            smootherOp = gsPreconditionerFromOp<>::make(mg->underlyingOp(i),smootherOp);
        }
 
        mg->setSmoother(i, smootherOp);
    } // end for
 
    gsMatrix<> errorHistory;
 
    gsMatrix<> x;
    x.setRandom( assembler.matrix().rows(), 1 );
 
    if (iterativeSolver=="cg")
        gsConjugateGradient<>( assembler.matrix(), mg )
            .setOptions( cmd.getGroup("Solver") )
            .solveDetailed( assembler.rhs(), x, errorHistory );
    else if (iterativeSolver=="d")
        gsGradientMethod<>( assembler.matrix(), mg )
            .setOptions( cmd.getGroup("Solver") )
            .solveDetailed( assembler.rhs(), x, errorHistory );
    else
    {
        gsInfo << "\n\nThe chosen iterative solver is unknown.\n\nKnown are:\n  conjugate gradient (cg)\n  direct (d)\n\n";
        return EXIT_FAILURE;
    }
 
    gsInfo << "done.\n\n";
 
    /******************** Print end Exit ********************/
 
    const index_t iter = errorHistory.rows()-1;
    const bool success = errorHistory(iter,0) < tolerance;
    if (success)
        gsInfo << "Reached desired tolerance after " << iter << " iterations:\n";
    else
        gsInfo << "Did not reach desired tolerance after " << iter << " iterations:\n";
 
    if (errorHistory.rows() < 20)
        gsInfo << errorHistory.transpose() << "\n\n";
    else
        gsInfo << errorHistory.topRows(5).transpose() << " ... " << errorHistory.bottomRows(5).transpose()  << "\n\n";
 
    if (!out.empty())
    {
        gsFileData<> fd;
        std::time_t time = std::time(NULL);
        fd.add(cmd);
        fd.add(x);
        fd.addComment(std::string("multiGrid_example   Timestamp:")+std::ctime(&time));
        fd.save(out);
        gsInfo << "Write solution to file " << out << "\n";
    }
 
    if (plot)
    {
        // Construct the solution as a scalar field
        gsMultiPatch<> mpsol;
        assembler.constructSolution(x, mpsol);
        gsField<> sol( assembler.patches(), mpsol );
 
        // Write solution to paraview files
        gsInfo << "Write Paraview data to file multiGrid_result.pvd\n";
        gsWriteParaview<>(sol, "multiGrid_result", 1000);
        gsFileManager::open("multiGrid_result.pvd");
    }
    if (!plot&&out.empty())
    {
        gsInfo << "Done. No output created, re-run with --plot to get a ParaView "
                  "file containing the solution or --out to write solution to xml file.\n";
    }
    return success ? EXIT_SUCCESS : EXIT_FAILURE;
}
 
 
gsPreconditionerOp<>::Ptr setupSubspaceCorrectedMassSmoother(
    index_t level,
    index_t nrLevels,
    const gsSparseMatrix<>& matrix,
    const gsMultiBasis<>& mb,
    const gsBoundaryConditions<>& bc,
    const gsOptionList& opt,
    std::vector<real_t>& patchLocalDampingParameters
)
{
    // This function sets up a patchwise version of the subspace corrected mass smoother.
 
    const short_t dim = mb.topology().dim();
 
    const iFace::strategy iFaceStrategy = (iFace::strategy)opt.askInt("InterfaceStrategy", 1);
    GISMO_ASSERT( iFaceStrategy == iFace::dg || iFaceStrategy == iFace::conforming,
      "Unknown interface strategy." );
 
    // Setup dof mapper
    gsDofMapper dm;
    mb.getMapper(
       (dirichlet::strategy)opt.askInt("DirichletStrategy",11),
       iFaceStrategy,
       bc,
       dm,
       0
    );
    const index_t nTotalDofs = dm.freeSize();
 
    // Decompose the whole domain into components
    std::vector< std::vector<patchComponent> > components = mb.topology().allComponents(true);
    const index_t nr_components = components.size();
 
    if (patchLocalDampingParameters.size() == 0)
        patchLocalDampingParameters.resize(nr_components);
 
    // Setup Dirichlet boundary conditions
    gsBoundaryConditions<> dir_bc;
    for( index_t ps=0; ps < 2*dim; ++ps )
        dir_bc.addCondition( 0, 1+ps, condition_type::dirichlet, NULL );
 
    // Setup transfer matrices and local preconditioners
    std::vector< gsSparseMatrix<real_t,RowMajor> > transfers;
    transfers.reserve(nr_components);
 
    std::vector< gsLinearOperator<>::Ptr > ops;
    ops.reserve(nr_components);
 
    for (index_t i=0; i<nr_components; ++i)
    {
        const index_t cdim = components[i][0].dim();
        gsMatrix<index_t> indices;
        std::vector<gsBasis<>::uPtr> bases = mb.componentBasis_withIndices(components[i],dm,indices,true);
        index_t sz = indices.rows();
        gsSparseEntries<> se;
        se.reserve(sz);
        for (index_t j=0; j<sz; ++j)
            se.add(indices(j,0),j,(real_t)1);
        gsSparseMatrix<real_t,RowMajor> transfer(nTotalDofs,sz);
        transfer.setFrom(se);
 
        if (sz>0)  // It might be the case that there is no active dof in some components.
        {
            gsSparseMatrix<> localMatrix = transfer.transpose() * matrix * transfer;
 
            if (cdim >= 2 && cdim >= dim-1)
            {
                // If the component has dimension of at least 2, we have to do something fancy.
                // For dim > 3, we ignore interaces of dimensionality dim-2 and smaller (for simplicity).
                index_t nrDifferentBases;
                real_t stiffFactor, massFactor;
                if ( cdim == dim )
                {
                    nrDifferentBases = 1;
                    stiffFactor = 1;
                    massFactor = 0;
                }
                else // cdim == dim-1
                {
                    if ( iFaceStrategy == iFace::dg && components[i].size() == 2 )
                    {
                        // components[i].size() == 2 means that we consider an interface, not a boundary
                        const index_t patch0 = components[i][0].patch(),
                                      patch1 = components[i][1].patch();
                        const real_t h = math::min( mb[patch0].getMinCellLength(), mb[patch1].getMinCellLength() );
                        const index_t p = math::max( mb[patch0].maxDegree(), mb[patch1].maxDegree() );
                        nrDifferentBases = 2;
                        stiffFactor = h/p;
                        massFactor = p/h;
                    }
                    else
                    {
                        const index_t patch = components[i][0].patch();
                        const real_t h  = mb[patch].getMinCellLength();
                        const index_t p = mb[patch].maxDegree();
                        nrDifferentBases = 1;
                        stiffFactor = h/p;
                        massFactor = p/h;
                    }
                }
 
                gsLinearOperator<>::uPtr localOperators[2];
                for (index_t j=0; j!=nrDifferentBases; ++j)
                {
                    localOperators[j] = gsPatchPreconditionersCreator<>::subspaceCorrectedMassSmootherOp(
                        *(bases[j]),
                        dir_bc,
                        gsOptionList(),
                        opt.getReal("Scaling"),
                        massFactor,
                        stiffFactor
                    );
                }
 
                if ( nrDifferentBases > 1 )
                {
                    // In the case of dG, we use a conjugate gradient solver with a block-diagonal
                    // preconditioner
                    gsLinearOperator<>::Ptr underlying = makeMatrixOp( localMatrix.moveToPtr() );
 
                    gsBlockOp<>::uPtr blockPreconder = gsBlockOp<>::make(nrDifferentBases, nrDifferentBases);
                    for (index_t j=0; j!=nrDifferentBases; ++j)
                        blockPreconder->addOperator(j,j,give(localOperators[j]));
 
                    ops.push_back( gsIterativeSolverOp< gsConjugateGradient<> >::make(underlying, give(blockPreconder)) );
                }
                else
                {
                    // Otherwiese, we just scale the local solvers properly
                    gsLinearOperator<>::Ptr underlying = makeMatrixOp( localMatrix.moveToPtr() );
                    gsPreconditionerFromOp<>::uPtr pc = gsPreconditionerFromOp<>::make(underlying,give(localOperators[0]));
                    if (patchLocalDampingParameters[i] == 0)
                    {
                        const real_t damping = 1/pc->estimateLargestEigenvalueOfPreconditionedSystem(10);
                        pc->setDamping(damping);
 
                        // We store the local damping parameter if we can expect that it does not change
                        // too much any more. When the number of inner knots is p or smaller, the subspace
                        // corrected mass smoother is an exact solver. Thus, these cases are not comparable.
                        bool saveLambda = (level > nrLevels - 5);
                        for (index_t j=0; j!=bases[0]->dim(); ++j)
                            saveLambda &= bases[0]->component(j).numElements()
                                              > static_cast<size_t>( bases[0]->component(j).maxDegree() );
                        if ( saveLambda )
                            patchLocalDampingParameters[i] = damping;
                    }
                    else
                        pc->setDamping(patchLocalDampingParameters[i]);
                    ops.push_back(give(pc));
                }
 
            }
            else
            {
                // If the component has dimension 0 or 1, we can just use direct solves
                ops.push_back( makeSparseCholeskySolver(localMatrix) );
            }
 
            transfers.push_back(give(transfer));
        }
    }
 
    gsPreconditionerFromOp<>::Ptr result
        = gsPreconditionerFromOp<>::make(
            makeMatrixOp(matrix),
            gsAdditiveOp<>::make(transfers, ops)
        );
    result->setOptions(opt);
    return result;
}