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- unrolled the reverseAD recursion 

- MaxVirtualStaticRows is now a macro and some preprocessor derictives activate and deactivate the corresponding defintions. This could be of course removed at some point.
release/4.3a0
HannesSommer 2014-11-29 10:14:19 +01:00
parent 61666f22d6
commit 18a8de1f46
2 changed files with 83 additions and 70 deletions
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151
gtsam_unstable/nonlinear/CallRecord.h
View File

@ -36,7 +36,7 @@ class JacobianMap;
* MaxVirtualStaticRows defines how many separate virtual reverseAD with specific
* static rows (1..MaxVirtualStaticRows) methods will be part of the CallRecord interface.
*/
const int MaxVirtualStaticRows = 4;
#define MaxVirtualStaticRows 4
namespace internal {
@ -69,65 +69,6 @@ struct ConvertToVirtualFunctionSupportedMatrixType<false> {
}
};
/**
* Recursive definition of an interface having several purely
* virtual _reverseAD(const Eigen::Matrix<double, Rows, Cols> &, JacobianMap&)
* with Rows in 1..MaxSupportedStaticRows
*/
template<int MaxSupportedStaticRows, int Cols>
struct ReverseADInterface: ReverseADInterface<MaxSupportedStaticRows - 1, Cols> {
using ReverseADInterface<MaxSupportedStaticRows - 1, Cols>::_reverseAD;
virtual void _reverseAD(
const Eigen::Matrix<double, MaxSupportedStaticRows, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
};
template<int Cols>
struct ReverseADInterface<0, Cols> {
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
virtual void _reverseAD(const Matrix & dFdT,
JacobianMap& jacobians) const = 0;
};
/**
* ReverseADImplementor is a utility class used by CallRecordImplementor to
* implementing the recursive ReverseADInterface interface.
*/
template<typename Derived, int MaxSupportedStaticRows, int Cols>
struct ReverseADImplementor: ReverseADImplementor<Derived,
MaxSupportedStaticRows - 1, Cols> {
private:
using ReverseADImplementor<Derived, MaxSupportedStaticRows - 1, Cols>::_reverseAD;
virtual void _reverseAD(
const Eigen::Matrix<double, MaxSupportedStaticRows, Cols> & dFdT,
JacobianMap& jacobians) const {
static_cast<const Derived *>(this)->reverseAD(dFdT, jacobians);
}
friend struct internal::ReverseADImplementor<Derived,
MaxSupportedStaticRows + 1, Cols>;
};
template<typename Derived, int Cols>
struct ReverseADImplementor<Derived, 0, Cols> : virtual internal::ReverseADInterface<
MaxVirtualStaticRows, Cols> {
private:
using internal::ReverseADInterface<MaxVirtualStaticRows, Cols>::_reverseAD;
const Derived & derived() const {
return static_cast<const Derived&>(*this);
}
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
friend struct internal::ReverseADImplementor<Derived, 1, Cols>;
};
} // namespace internal
/**
@ -138,9 +79,7 @@ private:
* It is implemented in the function-style ExpressionNode's nested Record class below.
*/
template<int Cols>
struct CallRecord: virtual private internal::ReverseADInterface<
MaxVirtualStaticRows, Cols> {
struct CallRecord {
inline void print(const std::string& indent) const {
_print(indent);
}
@ -153,8 +92,11 @@ struct CallRecord: virtual private internal::ReverseADInterface<
inline void reverseAD(const Eigen::MatrixBase<Derived> & dFdT,
JacobianMap& jacobians) const {
_reverseAD(
internal::ConvertToVirtualFunctionSupportedMatrixType<(Derived::RowsAtCompileTime > MaxVirtualStaticRows)>::convert(
dFdT), jacobians);
internal::ConvertToVirtualFunctionSupportedMatrixType<
(Derived::RowsAtCompileTime > MaxVirtualStaticRows)
>::convert(dFdT),
jacobians
);
}
inline void reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
@ -167,7 +109,36 @@ struct CallRecord: virtual private internal::ReverseADInterface<
private:
virtual void _print(const std::string& indent) const = 0;
virtual void _startReverseAD(JacobianMap& jacobians) const = 0;
using internal::ReverseADInterface<MaxVirtualStaticRows, Cols>::_reverseAD;
virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const = 0;
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
#if MaxVirtualStaticRows >= 1
virtual void _reverseAD(
const Eigen::Matrix<double, 1, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
#endif
#if MaxVirtualStaticRows >= 2
virtual void _reverseAD(
const Eigen::Matrix<double, 2, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
#endif
#if MaxVirtualStaticRows >= 3
virtual void _reverseAD(
const Eigen::Matrix<double, 3, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
#endif
#if MaxVirtualStaticRows >= 4
virtual void _reverseAD(
const Eigen::Matrix<double, 4, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
#endif
#if MaxVirtualStaticRows >= 5
virtual void _reverseAD(
const Eigen::Matrix<double, 5, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
#endif
};
namespace internal {
@ -176,8 +147,7 @@ namespace internal {
* delegating to its corresponding (templated) non-virtual methods.
*/
template<typename Derived, int Cols>
struct CallRecordImplementor: public CallRecord<Cols>,
private ReverseADImplementor<Derived, MaxVirtualStaticRows, Cols> {
struct CallRecordImplementor: public CallRecord<Cols> {
private:
const Derived & derived() const {
return static_cast<const Derived&>(*this);
@ -188,7 +158,50 @@ private:
virtual void _startReverseAD(JacobianMap& jacobians) const {
derived().startReverseAD(jacobians);
}
template<typename D, int R, int C> friend struct ReverseADImplementor;
virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
#if MaxVirtualStaticRows >= 1
virtual void _reverseAD(
const Eigen::Matrix<double, 1, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
#endif
#if MaxVirtualStaticRows >= 2
virtual void _reverseAD(
const Eigen::Matrix<double, 2, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
#endif
#if MaxVirtualStaticRows >= 3
virtual void _reverseAD(
const Eigen::Matrix<double, 3, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
#endif
#if MaxVirtualStaticRows >= 4
virtual void _reverseAD(
const Eigen::Matrix<double, 4, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
#endif
#if MaxVirtualStaticRows >= 5
virtual void _reverseAD(
const Eigen::Matrix<double, 5, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
#endif
};
} // namespace internal

2
gtsam_unstable/nonlinear/tests/testCallRecord.cpp
View File

@ -90,7 +90,7 @@ struct Record: public internal::CallRecordImplementor<Record, Cols> {
}
template<typename Derived, int Rows, int OtherCols>
friend struct internal::ReverseADImplementor;
friend struct internal::CallRecordImplementor;
};
JacobianMap & NJM= *static_cast<JacobianMap *>(NULL);