Removed #ifdef blocks and documented the AD process by numbering the methods in the order they are called
dellaert
parent
7989a8c0dc
commit
e2e29dac68
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@ -106,7 +106,7 @@ struct UseBlockIf<false, Derived> {
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};
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}
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/// Handle Leaf Case: reverseAD ends here, by writing a matrix into Jacobians
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/// Handle Leaf Case: reverse AD ends here, by writing a matrix into Jacobians
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template<typename Derived>
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void handleLeafCase(const Eigen::MatrixBase<Derived>& dTdA,
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JacobianMap& jacobians, Key key) {
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@ -186,28 +186,28 @@ public:
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}
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}
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/**
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* *** This is the main entry point for reverseAD, called from Expression ***
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* *** This is the main entry point for reverse AD, called from Expression ***
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* Called only once, either inserts I into Jacobians (Leaf) or starts AD (Function)
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*/
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typedef Eigen::Matrix<double, Dim, Dim> JacobianTT;
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void startReverseAD(JacobianMap& jacobians) const {
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void startReverseAD1(JacobianMap& jacobians) const {
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if (kind == Leaf) {
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// This branch will only be called on trivial Leaf expressions, i.e. Priors
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static const JacobianTT I = JacobianTT::Identity();
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handleLeafCase(I, jacobians, content.key);
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} else if (kind == Function)
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// This is the more typical entry point, starting the AD pipeline
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// Inside the startReverseAD that the correctly dimensioned pipeline is chosen.
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content.ptr->startReverseAD(jacobians);
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// Inside startReverseAD2 the correctly dimensioned pipeline is chosen.
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content.ptr->startReverseAD2(jacobians);
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}
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// Either add to Jacobians (Leaf) or propagate (Function)
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template<typename DerivedMatrix>
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void reverseAD(const Eigen::MatrixBase<DerivedMatrix> & dTdA,
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void reverseAD1(const Eigen::MatrixBase<DerivedMatrix> & dTdA,
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JacobianMap& jacobians) const {
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if (kind == Leaf)
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handleLeafCase(dTdA, jacobians, content.key);
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else if (kind == Function)
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content.ptr->reverseAD(dTdA, jacobians);
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content.ptr->reverseAD2(dTdA, jacobians);
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}
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/// Define type so we can apply it as a meta-function
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@ -470,10 +470,10 @@ struct FunctionalBase: ExpressionNode<T> {
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struct Record {
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void print(const std::string& indent) const {
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}
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void startReverseAD(JacobianMap& jacobians) const {
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void startReverseAD4(JacobianMap& jacobians) const {
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}
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template<typename SomeMatrix>
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void reverseAD(const SomeMatrix & dFdT, JacobianMap& jacobians) const {
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void reverseAD4(const SomeMatrix & dFdT, JacobianMap& jacobians) const {
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}
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};
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/// Construct an execution trace for reverse AD
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@ -505,9 +505,9 @@ struct JacobianTrace {
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typename Jacobian<T, A>::type dTdA;
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};
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/**
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* Recursive Definition of Functional ExpressionNode
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*/
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// Recursive Definition of Functional ExpressionNode
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// The reason we inherit from Argument<T, A, N> is because we can then
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// case to this unique signature to retrieve the expression at any level
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template<class T, class A, class Base>
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struct GenerateFunctionalNode: Argument<T, A, Base::N + 1>, Base {
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@ -528,7 +528,9 @@ struct GenerateFunctionalNode: Argument<T, A, Base::N + 1>, Base {
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This::expression->dims(map);
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}
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/// Recursive Record Class for Functional Expressions
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// Recursive Record Class for Functional Expressions
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// The reason we inherit from JacobianTrace<T, A, N> is because we can then
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// case to this unique signature to retrieve the value/trace at any level
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struct Record: JacobianTrace<T, A, N>, Base::Record {
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typedef T return_type;
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@ -543,17 +545,26 @@ struct GenerateFunctionalNode: Argument<T, A, Base::N + 1>, Base {
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}
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/// Start the reverse AD process
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void startReverseAD(JacobianMap& jacobians) const {
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Base::Record::startReverseAD(jacobians);
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This::trace.reverseAD(This::dTdA, jacobians);
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void startReverseAD4(JacobianMap& jacobians) const {
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Base::Record::startReverseAD4(jacobians);
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// This is the crucial point where the size of the AD pipeline is selected.
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// One pipeline is started for each argument, but the number of rows in each
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// pipeline is the same, namely the dimension of the output argument T.
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// For example, if the entire expression is rooted by a binary function
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// yielding a 2D result, then the matrix dTdA will have 2 rows.
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// ExecutionTrace::reverseAD1 just passes this on to CallRecord::reverseAD2
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// which calls the correctly sized CallRecord::reverseAD3, which in turn
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// calls reverseAD4 below.
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This::trace.reverseAD1(This::dTdA, jacobians);
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}
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/// Given df/dT, multiply in dT/dA and continue reverse AD process
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// Cols is always known at compile time
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template<int Rows, int Cols>
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void reverseAD(const Eigen::Matrix<double, Rows, Cols> & dFdT,
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void reverseAD4(const Eigen::Matrix<double, Rows, Cols> & dFdT,
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JacobianMap& jacobians) const {
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Base::Record::reverseAD(dFdT, jacobians);
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This::trace.reverseAD(dFdT * This::dTdA, jacobians);
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Base::Record::reverseAD4(dFdT, jacobians);
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This::trace.reverseAD1(dFdT * This::dTdA, jacobians);
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}
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};
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@ -614,8 +625,8 @@ struct FunctionalNode {
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struct Record: public internal::CallRecordImplementor<Record,
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traits::dimension<T>::value>, public Base::Record {
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using Base::Record::print;
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using Base::Record::startReverseAD;
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using Base::Record::reverseAD;
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using Base::Record::startReverseAD4;
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using Base::Record::reverseAD4;
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virtual ~Record() {
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}
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@ -209,7 +209,7 @@ private:
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ExecutionTraceStorage traceStorage[size];
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ExecutionTrace<T> trace;
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T value(traceExecution(values, trace, traceStorage));
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trace.startReverseAD(jacobians);
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trace.startReverseAD1(jacobians);
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return value;
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}
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@ -32,12 +32,6 @@ class JacobianMap;
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// forward declaration
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//-----------------------------------------------------------------------------
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/**
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* MaxVirtualStaticRows defines how many separate virtual reverseAD with specific
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* static rows (1..MaxVirtualStaticRows) methods will be part of the CallRecord interface.
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*/
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#define MaxVirtualStaticRows 4
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namespace internal {
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/**
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@ -57,7 +51,8 @@ struct ConvertToVirtualFunctionSupportedMatrixType {
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template<>
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struct ConvertToVirtualFunctionSupportedMatrixType<false> {
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template<typename Derived>
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static const Eigen::Matrix<double, Derived::RowsAtCompileTime, Derived::ColsAtCompileTime> convert(
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static const Eigen::Matrix<double, Derived::RowsAtCompileTime,
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Derived::ColsAtCompileTime> convert(
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const Eigen::MatrixBase<Derived> & x) {
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return x;
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}
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@ -72,73 +67,68 @@ struct ConvertToVirtualFunctionSupportedMatrixType<false> {
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} // namespace internal
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/**
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* The CallRecord class stores the Jacobians of applying a function
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* with respect to each of its arguments. It also stores an execution trace
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* (defined below) for each of its arguments.
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*
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* It is implemented in the function-style ExpressionNode's nested Record class below.
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* The CallRecord is an abstract base class for the any class that stores
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* the Jacobians of applying a function with respect to each of its arguments,
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* as well as an execution trace for each of its arguments.
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*/
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template<int Cols>
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struct CallRecord {
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// Print entire record, recursively
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inline void print(const std::string& indent) const {
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_print(indent);
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}
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inline void startReverseAD(JacobianMap& jacobians) const {
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_startReverseAD(jacobians);
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// Main entry point for the reverse AD process of a functional expression.
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// Called *once* by the main AD entry point, ExecutionTrace::startReverseAD1
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// This function then calls ExecutionTrace::reverseAD for every argument
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// which will in turn call the reverseAD method below.
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// This non-virtual function _startReverseAD3, implemented in derived
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inline void startReverseAD2(JacobianMap& jacobians) const {
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_startReverseAD3(jacobians);
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}
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// Dispatch the reverseAD2 calls issued by ExecutionTrace::reverseAD1
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// Here we convert to dynamic if the
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template<typename Derived>
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inline void reverseAD(const Eigen::MatrixBase<Derived> & dFdT,
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inline void reverseAD2(const Eigen::MatrixBase<Derived> & dFdT,
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JacobianMap& jacobians) const {
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_reverseAD(
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_reverseAD3(
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internal::ConvertToVirtualFunctionSupportedMatrixType<
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(Derived::RowsAtCompileTime > MaxVirtualStaticRows)
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>::convert(dFdT),
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jacobians
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);
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(Derived::RowsAtCompileTime > 5)>::convert(dFdT),
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jacobians);
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}
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inline void reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
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_reverseAD(dFdT, jacobians);
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}
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// TODO: remove once Hannes agrees this is never called as handled by above
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// inline void reverseAD2(const Matrix & dFdT, JacobianMap& jacobians) const {
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// _reverseAD3(dFdT, jacobians);
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// }
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virtual ~CallRecord() {
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}
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private:
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virtual void _print(const std::string& indent) const = 0;
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virtual void _startReverseAD(JacobianMap& jacobians) const = 0;
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virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const = 0;
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virtual void _reverseAD(
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virtual void _print(const std::string& indent) const = 0;
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virtual void _startReverseAD3(JacobianMap& jacobians) const = 0;
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virtual void _reverseAD3(const Matrix & dFdT,
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JacobianMap& jacobians) const = 0;
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virtual void _reverseAD3(
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const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
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JacobianMap& jacobians) const = 0;
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#if MaxVirtualStaticRows >= 1
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virtual void _reverseAD(
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const Eigen::Matrix<double, 1, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 1, Cols> & dFdT,
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JacobianMap& jacobians) const = 0;
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#endif
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#if MaxVirtualStaticRows >= 2
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virtual void _reverseAD(
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const Eigen::Matrix<double, 2, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 2, Cols> & dFdT,
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JacobianMap& jacobians) const = 0;
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#endif
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#if MaxVirtualStaticRows >= 3
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virtual void _reverseAD(
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const Eigen::Matrix<double, 3, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 3, Cols> & dFdT,
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JacobianMap& jacobians) const = 0;
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#endif
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#if MaxVirtualStaticRows >= 4
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virtual void _reverseAD(
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const Eigen::Matrix<double, 4, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 4, Cols> & dFdT,
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JacobianMap& jacobians) const = 0;
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#endif
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#if MaxVirtualStaticRows >= 5
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virtual void _reverseAD(
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const Eigen::Matrix<double, 5, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 5, Cols> & dFdT,
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JacobianMap& jacobians) const = 0;
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#endif
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};
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namespace internal {
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@ -149,59 +139,48 @@ namespace internal {
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template<typename Derived, int Cols>
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struct CallRecordImplementor: public CallRecord<Cols> {
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private:
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const Derived & derived() const {
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return static_cast<const Derived&>(*this);
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}
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virtual void _print(const std::string& indent) const {
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derived().print(indent);
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}
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virtual void _startReverseAD(JacobianMap& jacobians) const {
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derived().startReverseAD(jacobians);
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virtual void _startReverseAD3(JacobianMap& jacobians) const {
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derived().startReverseAD4(jacobians);
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}
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virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
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derived().reverseAD(dFdT, jacobians);
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virtual void _reverseAD3(const Matrix & dFdT, JacobianMap& jacobians) const {
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derived().reverseAD4(dFdT, jacobians);
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}
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virtual void _reverseAD(
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virtual void _reverseAD3(
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const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
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JacobianMap& jacobians) const {
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derived().reverseAD(dFdT, jacobians);
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derived().reverseAD4(dFdT, jacobians);
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}
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#if MaxVirtualStaticRows >= 1
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virtual void _reverseAD(
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const Eigen::Matrix<double, 1, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 1, Cols> & dFdT,
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JacobianMap& jacobians) const {
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derived().reverseAD(dFdT, jacobians);
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derived().reverseAD4(dFdT, jacobians);
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}
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#endif
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#if MaxVirtualStaticRows >= 2
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virtual void _reverseAD(
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const Eigen::Matrix<double, 2, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 2, Cols> & dFdT,
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JacobianMap& jacobians) const {
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derived().reverseAD(dFdT, jacobians);
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derived().reverseAD4(dFdT, jacobians);
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}
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#endif
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#if MaxVirtualStaticRows >= 3
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virtual void _reverseAD(
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const Eigen::Matrix<double, 3, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 3, Cols> & dFdT,
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JacobianMap& jacobians) const {
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derived().reverseAD(dFdT, jacobians);
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derived().reverseAD4(dFdT, jacobians);
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}
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#endif
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#if MaxVirtualStaticRows >= 4
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virtual void _reverseAD(
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const Eigen::Matrix<double, 4, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 4, Cols> & dFdT,
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JacobianMap& jacobians) const {
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derived().reverseAD(dFdT, jacobians);
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derived().reverseAD4(dFdT, jacobians);
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}
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#endif
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#if MaxVirtualStaticRows >= 5
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virtual void _reverseAD(
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const Eigen::Matrix<double, 5, Cols> & dFdT,
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virtual void _reverseAD3(const Eigen::Matrix<double, 5, Cols> & dFdT,
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JacobianMap& jacobians) const {
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derived().reverseAD(dFdT, jacobians);
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derived().reverseAD4(dFdT, jacobians);
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}
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#endif
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};
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} // namespace internal
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@ -33,7 +33,7 @@ static const int Cols = 3;
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int dynamicIfAboveMax(int i){
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if(i > MaxVirtualStaticRows){
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if(i > 5){
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return Eigen::Dynamic;
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}
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else return i;
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@ -76,20 +76,20 @@ struct Record: public internal::CallRecordImplementor<Record, Cols> {
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}
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void print(const std::string& indent) const {
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}
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void startReverseAD(JacobianMap& jacobians) const {
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void startReverseAD4(JacobianMap& jacobians) const {
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}
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mutable CallConfig cc;
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private:
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template<typename SomeMatrix>
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void reverseAD(const SomeMatrix & dFdT, JacobianMap& jacobians) const {
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void reverseAD4(const SomeMatrix & dFdT, JacobianMap& jacobians) const {
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cc.compTimeRows = SomeMatrix::RowsAtCompileTime;
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cc.compTimeCols = SomeMatrix::ColsAtCompileTime;
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cc.runTimeRows = dFdT.rows();
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cc.runTimeCols = dFdT.cols();
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}
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template<typename Derived, int Rows, int OtherCols>
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template<typename Derived, int Rows>
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friend struct internal::CallRecordImplementor;
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};
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@ -102,56 +102,56 @@ TEST(CallRecord, virtualReverseAdDispatching) {
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Record record;
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{
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const int Rows = 1;
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record.CallRecord::reverseAD(Eigen::Matrix<double, Rows, Cols>(), NJM);
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record.CallRecord::reverseAD2(Eigen::Matrix<double, Rows, Cols>(), NJM);
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EXPECT((assert_equal(record.cc, CallConfig(Rows, Cols))));
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record.CallRecord::reverseAD(DynRowMat(Rows, Cols), NJM);
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record.CallRecord::reverseAD2(DynRowMat(Rows, Cols), NJM);
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EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Cols, Rows, Cols))));
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record.CallRecord::reverseAD(Eigen::MatrixXd(Rows, Cols), NJM);
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record.CallRecord::reverseAD2(Eigen::MatrixXd(Rows, Cols), NJM);
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EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Eigen::Dynamic, Rows, Cols))));
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}
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{
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const int Rows = 2;
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record.CallRecord::reverseAD(Eigen::Matrix<double, Rows, Cols>(), NJM);
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record.CallRecord::reverseAD2(Eigen::Matrix<double, Rows, Cols>(), NJM);
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EXPECT((assert_equal(record.cc, CallConfig(Rows, Cols))));
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record.CallRecord::reverseAD(DynRowMat(Rows, Cols), NJM);
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record.CallRecord::reverseAD2(DynRowMat(Rows, Cols), NJM);
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EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Cols, Rows, Cols))));
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record.CallRecord::reverseAD(Eigen::MatrixXd(Rows, Cols), NJM);
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record.CallRecord::reverseAD2(Eigen::MatrixXd(Rows, Cols), NJM);
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EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Eigen::Dynamic, Rows, Cols))));
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}
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{
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const int Rows = 3;
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record.CallRecord::reverseAD(Eigen::Matrix<double, Rows, Cols>(), NJM);
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record.CallRecord::reverseAD2(Eigen::Matrix<double, Rows, Cols>(), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Rows, Cols))));
|
||||
record.CallRecord::reverseAD(DynRowMat(Rows, Cols), NJM);
|
||||
record.CallRecord::reverseAD2(DynRowMat(Rows, Cols), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Cols, Rows, Cols))));
|
||||
record.CallRecord::reverseAD(Eigen::MatrixXd(Rows, Cols), NJM);
|
||||
record.CallRecord::reverseAD2(Eigen::MatrixXd(Rows, Cols), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Eigen::Dynamic, Rows, Cols))));
|
||||
}
|
||||
{
|
||||
const int Rows = MaxVirtualStaticRows;
|
||||
record.CallRecord::reverseAD(Eigen::Matrix<double, Rows, Cols>(), NJM);
|
||||
const int Rows = 4;
|
||||
record.CallRecord::reverseAD2(Eigen::Matrix<double, Rows, Cols>(), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Rows, Cols))));
|
||||
record.CallRecord::reverseAD(DynRowMat(Rows, Cols), NJM);
|
||||
record.CallRecord::reverseAD2(DynRowMat(Rows, Cols), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Cols, Rows, Cols))));
|
||||
record.CallRecord::reverseAD(Eigen::MatrixXd(Rows, Cols), NJM);
|
||||
record.CallRecord::reverseAD2(Eigen::MatrixXd(Rows, Cols), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Eigen::Dynamic, Rows, Cols))));
|
||||
}
|
||||
{
|
||||
const int Rows = MaxVirtualStaticRows + 1;
|
||||
record.CallRecord::reverseAD(Eigen::Matrix<double, Rows, Cols>(), NJM);
|
||||
const int Rows = 5;
|
||||
record.CallRecord::reverseAD2(Eigen::Matrix<double, Rows, Cols>(), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Rows, Cols))));
|
||||
record.CallRecord::reverseAD(DynRowMat(Rows, Cols), NJM);
|
||||
record.CallRecord::reverseAD2(DynRowMat(Rows, Cols), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Cols, Rows, Cols))));
|
||||
record.CallRecord::reverseAD(Eigen::MatrixXd(Rows, Cols), NJM);
|
||||
record.CallRecord::reverseAD2(Eigen::MatrixXd(Rows, Cols), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Eigen::Dynamic, Rows, Cols))));
|
||||
}
|
||||
{
|
||||
const int Rows = MaxVirtualStaticRows + 2;
|
||||
record.CallRecord::reverseAD(Eigen::Matrix<double, Rows, Cols>(), NJM);
|
||||
const int Rows = 6;
|
||||
record.CallRecord::reverseAD2(Eigen::Matrix<double, Rows, Cols>(), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Rows, Cols))));
|
||||
record.CallRecord::reverseAD(DynRowMat(Rows, Cols), NJM);
|
||||
record.CallRecord::reverseAD2(DynRowMat(Rows, Cols), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Cols, Rows, Cols))));
|
||||
record.CallRecord::reverseAD(Eigen::MatrixXd(Rows, Cols), NJM);
|
||||
record.CallRecord::reverseAD2(Eigen::MatrixXd(Rows, Cols), NJM);
|
||||
EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Eigen::Dynamic, Rows, Cols))));
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue