93 lines
2.6 KiB
C++
93 lines
2.6 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file AdaptAutoDiff.h
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* @date October 22, 2014
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* @author Frank Dellaert
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* @brief Adaptor for Ceres style auto-differentiated functions
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*/
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#pragma once
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#include <gtsam/3rdparty/ceres/autodiff.h>
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#include <gtsam/base/Manifold.h>
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#include <gtsam/base/OptionalJacobian.h>
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namespace gtsam {
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/// Adapt ceres-style autodiff
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template<typename F, typename T, typename A1, typename A2>
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class AdaptAutoDiff {
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static const int N = traits::dimension<T>::value;
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static const int M1 = traits::dimension<A1>::value;
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static const int M2 = traits::dimension<A2>::value;
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typedef Eigen::Matrix<double, N, M1, Eigen::RowMajor> RowMajor1;
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typedef Eigen::Matrix<double, N, M2, Eigen::RowMajor> RowMajor2;
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typedef Canonical<T> CanonicalT;
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typedef Canonical<A1> Canonical1;
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typedef Canonical<A2> Canonical2;
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typedef typename CanonicalT::vector VectorT;
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typedef typename Canonical1::vector Vector1;
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typedef typename Canonical2::vector Vector2;
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// Instantiate function and charts
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CanonicalT chartT;
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Canonical1 chart1;
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Canonical2 chart2;
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F f;
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public:
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T operator()(const A1& a1, const A2& a2, OptionalJacobian<N, M1> H1 = boost::none,
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OptionalJacobian<N, M2> H2 = boost::none) {
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using ceres::internal::AutoDiff;
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// Make arguments
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Vector1 v1 = chart1.local(a1);
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Vector2 v2 = chart2.local(a2);
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bool success;
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VectorT result;
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if (H1 || H2) {
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// Get derivatives with AutoDiff
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double *parameters[] = { v1.data(), v2.data() };
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double rowMajor1[N * M1], rowMajor2[N * M2]; // om the stack
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double *jacobians[] = { rowMajor1, rowMajor2 };
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success = AutoDiff<F, double, 9, 3>::Differentiate(f, parameters, 2,
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result.data(), jacobians);
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// Convert from row-major to columnn-major
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// TODO: if this is a bottleneck (probably not!) fix Autodiff to be Column-Major
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*H1 = Eigen::Map<RowMajor1>(rowMajor1);
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*H2 = Eigen::Map<RowMajor2>(rowMajor2);
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} else {
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// Apply the mapping, to get result
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success = f(v1.data(), v2.data(), result.data());
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}
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if (!success)
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throw std::runtime_error(
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"AdaptAutoDiff: function call resulted in failure");
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return chartT.retract(result);
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}
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};
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}
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