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Created CallRecord header

release/4.3a0
dellaert 2014-11-21 15:48:02 +01:00
parent fb24ab586e
commit 2983cf33a6
3 changed files with 298 additions and 44 deletions
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106
.cproject
View File

@ -600,6 +600,7 @@
</target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -607,6 +608,7 @@
</target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -654,6 +656,7 @@
</target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -661,6 +664,7 @@
</target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -668,6 +672,7 @@
</target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -683,6 +688,7 @@
</target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1114,6 +1120,7 @@
</target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1343,6 +1350,46 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testBTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSF.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFMap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testFixedVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -1425,7 +1472,6 @@
</target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1465,7 +1511,6 @@
</target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1473,7 +1518,6 @@
</target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1487,46 +1531,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testBTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSF.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFMap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testFixedVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
@ -1784,6 +1788,7 @@
</target>
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G DEB</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1791,6 +1796,7 @@
</target>
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G RPM</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1798,6 +1804,7 @@
</target>
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G TGZ</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1805,6 +1812,7 @@
</target>
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2619,6 +2627,7 @@
</target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2626,6 +2635,7 @@
</target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2633,6 +2643,7 @@
</target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNetB.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2742,6 +2753,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCallRecord.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testCallRecord.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -3152,7 +3171,6 @@
</target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>

181
gtsam_unstable/nonlinear/CallRecord.h Normal file
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@ -0,0 +1,181 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file CallRecord.h
* @date November 21, 2014
* @author Frank Dellaert
* @author Paul Furgale
* @author Hannes Sommer
* @brief Internals for Expression.h, not for general consumption
*/
#pragma once
#include <gtsam/base/VerticalBlockMatrix.h>
#include <gtsam/base/FastVector.h>
#include <gtsam/base/Matrix.h>
namespace gtsam {
class JacobianMap;
// forward declaration
//-----------------------------------------------------------------------------
/**
* 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;
namespace internal {
/**
* ConvertToDynamicIf converts to a dense matrix with dynamic rows iff
* ConvertToDynamicRows (colums stay as they are) otherwise
* it just passes dense Eigen matrices through.
*/
template<bool ConvertToDynamicRows>
struct ConvertToDynamicRowsIf {
template<typename Derived>
static Eigen::Matrix<double, Eigen::Dynamic, Derived::ColsAtCompileTime> convert(
const Eigen::MatrixBase<Derived> & x) {
return x;
}
};
template<>
struct ConvertToDynamicRowsIf<false> {
template<int Rows, int Cols>
static const Eigen::Matrix<double, Rows, Cols> & convert(
const Eigen::Matrix<double, Rows, Cols> & x) {
return x;
}
};
/**
* 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: public ReverseADInterface<MaxSupportedStaticRows - 1,
Cols> {
protected:
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> {
protected:
void _reverseAD() {
} //dummy to allow the using directive in the template without failing for MaxSupportedStaticRows == 1.
};
}
/**
* The CallRecord class stores the Jacobians of applying a function
* with respect to each of its arguments. It also stores an executation trace
* (defined below) for each of its arguments.
*
* It is implemented in the function-style ExpressionNode's nested Record class below.
*/
template<int Cols>
struct CallRecord: private internal::ReverseADInterface<MaxVirtualStaticRows,
Cols> {
inline void print(const std::string& indent) const {
_print(indent);
}
inline void startReverseAD(JacobianMap& jacobians) const {
_startReverseAD(jacobians);
}
template<int Rows>
inline void reverseAD(const Eigen::Matrix<double, Rows, Cols> & dFdT,
JacobianMap& jacobians) const {
_reverseAD(
internal::ConvertToDynamicRowsIf<(Rows > MaxVirtualStaticRows)>::convert(
dFdT), jacobians);
}
virtual ~CallRecord() {
}
private:
using internal::ReverseADInterface<MaxVirtualStaticRows, Cols>::_reverseAD;
virtual void _print(const std::string& indent) const = 0;
virtual void _startReverseAD(JacobianMap& jacobians) const = 0;
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;
};
namespace internal {
/**
* ReverseADImplementor is a utility class used by CallRecordImplementor to
* implementing the recursive CallRecord interface.
*/
template<typename Derived, int MaxSupportedStaticRows, int Cols>
struct ReverseADImplementor: ReverseADImplementor<Derived,
MaxSupportedStaticRows - 1, Cols> {
protected:
virtual void _reverseAD(
const Eigen::Matrix<double, MaxSupportedStaticRows, Cols> & dFdT,
JacobianMap& jacobians) const {
static_cast<const Derived *>(this)->reverseAD(dFdT, jacobians);
}
};
template<typename Derived, int Cols>
struct ReverseADImplementor<Derived, 0, Cols> : CallRecord<Cols> {
};
/**
* The CallRecordImplementor implements the CallRecord interface for a Derived class by
* delegating to its corresponding (templated) non-virtual methods.
*/
template<typename Derived, int Cols>
struct CallRecordImplementor: public ReverseADImplementor<Derived,
MaxVirtualStaticRows, Cols> {
private:
const Derived & derived() const {
return static_cast<const Derived&>(*this);
}
virtual void _print(const std::string& indent) const {
derived().print(indent);
}
virtual void _startReverseAD(JacobianMap& jacobians) const {
derived().startReverseAD(jacobians);
}
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);
}
};
} // internal
} // gtsam

55
gtsam_unstable/nonlinear/tests/testCallRecord.cpp Normal file
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@ -0,0 +1,55 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------1------------------------------------------- */
/**
* @file testCallRecord.cpp
* @date November 21, 2014
* @author Frank Dellaert
* @author Paul Furgale
* @author Hannes Sommer
* @brief unit tests for Callrecord class
*/
#include <gtsam_unstable/nonlinear/Callrecord.h>
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
static const int Cols = 3;
struct Record: public internal::CallRecordImplementor<Record, Cols> {
virtual ~Record() {
}
void print(const std::string& indent) const {
}
void startReverseAD(JacobianMap& jacobians) const {
}
template<typename SomeMatrix>
void reverseAD(const SomeMatrix & dFdT, JacobianMap& jacobians) const {
}
};
/* ************************************************************************* */
// Construct
TEST(CallRecord, constant) {
Record record;
}
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */