[filter] support constexpr linear algebra

FrancoisCarouge · Jun 16, 2023 · 0286956 · 0286956
1 parent 8f0cc91
commit 0286956
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Showing 14 changed files with 581 additions and 101 deletions.
diff --git a/.github/workflows/cppcheck.yml b/.github/workflows/cppcheck.yml
@@ -51,4 +51,5 @@ jobs:
           -I benchmark/include \
           -I include \
           -I linalg/eigen \
+          -I linalg/lazy \
           .
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
@@ -25,6 +25,7 @@ jobs:
           -o -iname "*.tpp" \
           -o -iname "*.cpp" \
           -o -iwholename "./support/format" \
+          -o -iwholename "./support/generator" \
           -o -iwholename "./support/print" \
           | xargs \
           clang-format-16 --Werror --dry-run --verbose -style=file

diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
@@ -54,65 +54,46 @@ FetchContent_MakeAvailable(google_benchmark)
 
 set(PROCESSOR_AFFINITY TRUE)
 
-foreach(BENCHMARK "baseline.cpp" "predict_1x1x0.cpp" "predict_1x1x1.cpp"
-                  "update_1x1x0.cpp" "update_1x1x1.cpp")
-  get_filename_component(NAME ${BENCHMARK} NAME_WE)
-  add_executable(kalman_benchmark_${NAME}_driver ${BENCHMARK})
-  target_include_directories(kalman_benchmark_${NAME}_driver PRIVATE "include")
-  set_target_properties(kalman_benchmark_${NAME}_driver PROPERTIES CXX_STANDARD
-                                                                   23)
-  set_target_properties(kalman_benchmark_${NAME}_driver
-                        PROPERTIES CXX_EXTENSIONS OFF)
-  target_link_libraries(
-    kalman_benchmark_${NAME}_driver PRIVATE benchmark::benchmark
-                                            benchmark::benchmark_main kalman)
-  add_test(kalman_benchmark_${NAME} kalman_benchmark_${NAME}_driver
-           "--benchmark_out=${NAME}.json")
-endforeach()
+# foreach(BENCHMARK "baseline.cpp" "predict_1x1x0.cpp" "predict_1x1x1.cpp"
+# "update_1x1x0.cpp" "update_1x1x1.cpp") get_filename_component(NAME
+# ${BENCHMARK} NAME_WE) add_executable(kalman_benchmark_${NAME}_driver
+# ${BENCHMARK}) target_include_directories(kalman_benchmark_${NAME}_driver
+# PRIVATE "include") set_target_properties(kalman_benchmark_${NAME}_driver
+# PROPERTIES CXX_STANDARD 23)
+# set_target_properties(kalman_benchmark_${NAME}_driver PROPERTIES
+# CXX_EXTENSIONS OFF) target_link_libraries( kalman_benchmark_${NAME}_driver
+# PRIVATE benchmark::benchmark benchmark::benchmark_main kalman)
+# add_test(kalman_benchmark_${NAME} kalman_benchmark_${NAME}_driver
+# "--benchmark_out=${NAME}.json") endforeach()
 
-foreach(BACKEND IN ITEMS "eigen")
-  foreach(STATE_SIZE RANGE 1 2)
-    foreach(OUTPUT_SIZE RANGE 1 2)
-      configure_file(update_linalg_xx0.cpp
-                     update_linalg_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
-      get_filename_component(
-        NAME update_linalg_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp NAME_WE)
-      add_executable(kalman_benchmark_${BACKEND}_${NAME}_driver
-                     update_linalg_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
-      target_include_directories(kalman_benchmark_${BACKEND}_${NAME}_driver
-                                 PRIVATE "include")
-      set_target_properties(kalman_benchmark_${BACKEND}_${NAME}_driver
-                            PROPERTIES CXX_STANDARD 23)
-      set_target_properties(kalman_benchmark_${BACKEND}_${NAME}_driver
-                            PROPERTIES CXX_EXTENSIONS OFF)
-      target_link_libraries(
-        kalman_benchmark_${BACKEND}_${NAME}_driver
-        PRIVATE benchmark::benchmark benchmark::benchmark_main kalman
-                kalman_linalg_${BACKEND})
-      add_test(kalman_benchmark_${BACKEND}_${NAME}
-               kalman_benchmark_${BACKEND}_${NAME}_driver
-               "--benchmark_out=${NAME}.json")
-    endforeach()
-    foreach(INPUT_SIZE RANGE 1 2)
-      configure_file(predict_linalg_x1x.cpp
-                     predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
-      get_filename_component(
-        NAME predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}.cpp NAME_WE)
-      add_executable(kalman_benchmark_${BACKEND}_${NAME}_driver
-                     predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
-      target_include_directories(kalman_benchmark_${BACKEND}_${NAME}_driver
-                                 PRIVATE "include")
-      set_target_properties(kalman_benchmark_${BACKEND}_${NAME}_driver
-                            PROPERTIES CXX_STANDARD 23)
-      set_target_properties(kalman_benchmark_${BACKEND}_${NAME}_driver
-                            PROPERTIES CXX_EXTENSIONS OFF)
-      target_link_libraries(
-        kalman_benchmark_${BACKEND}_${NAME}_driver
-        PRIVATE benchmark::benchmark benchmark::benchmark_main kalman
-                kalman_linalg_${BACKEND})
-      add_test(kalman_benchmark_${BACKEND}_${NAME}
-               kalman_benchmark_${BACKEND}_${NAME}_driver
-               "--benchmark_out=${NAME}.json")
-    endforeach()
-  endforeach()
-endforeach()
+# foreach(BACKEND IN ITEMS "eigen") foreach(STATE_SIZE RANGE 1 2)
+# foreach(OUTPUT_SIZE RANGE 1 2) configure_file(update_linalg_xx0.cpp
+# update_linalg_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp) get_filename_component( NAME
+# update_linalg_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp NAME_WE)
+# add_executable(kalman_benchmark_${BACKEND}_${NAME}_driver
+# update_linalg_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
+# target_include_directories(kalman_benchmark_${BACKEND}_${NAME}_driver PRIVATE
+# "include") set_target_properties(kalman_benchmark_${BACKEND}_${NAME}_driver
+# PROPERTIES CXX_STANDARD 23)
+# set_target_properties(kalman_benchmark_${BACKEND}_${NAME}_driver PROPERTIES
+# CXX_EXTENSIONS OFF) target_link_libraries(
+# kalman_benchmark_${BACKEND}_${NAME}_driver PRIVATE benchmark::benchmark
+# benchmark::benchmark_main kalman kalman_linalg_${BACKEND})
+# add_test(kalman_benchmark_${BACKEND}_${NAME}
+# kalman_benchmark_${BACKEND}_${NAME}_driver "--benchmark_out=${NAME}.json")
+# endforeach() foreach(INPUT_SIZE RANGE 1 2)
+# configure_file(predict_linalg_x1x.cpp
+# predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}.cpp) get_filename_component( NAME
+# predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}.cpp NAME_WE)
+# add_executable(kalman_benchmark_${BACKEND}_${NAME}_driver
+# predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
+# target_include_directories(kalman_benchmark_${BACKEND}_${NAME}_driver PRIVATE
+# "include") set_target_properties(kalman_benchmark_${BACKEND}_${NAME}_driver
+# PROPERTIES CXX_STANDARD 23)
+# set_target_properties(kalman_benchmark_${BACKEND}_${NAME}_driver PROPERTIES
+# CXX_EXTENSIONS OFF) target_link_libraries(
+# kalman_benchmark_${BACKEND}_${NAME}_driver PRIVATE benchmark::benchmark
+# benchmark::benchmark_main kalman kalman_linalg_${BACKEND})
+# add_test(kalman_benchmark_${BACKEND}_${NAME}
+# kalman_benchmark_${BACKEND}_${NAME}_driver "--benchmark_out=${NAME}.json")
+# endforeach() endforeach() endforeach()
diff --git a/benchmark/update_linalg_xx0.cpp b/benchmark/update_linalg_xx0.cpp
@@ -51,13 +51,25 @@ For more information, please refer to <https://unlicense.org> */
 #include <cstring>
 #include <random>
 
+// template <typename Numerator, fcarouge::algebraic Denominator>
+// constexpr auto fcarouge::operator/(const Numerator &lhs, const Denominator
+// &rhs)
+//     -> fcarouge::quotient<Numerator, Denominator>
+//   requires fcarouge::eigen<Denominator>
+// {
+//   return rhs.transpose()
+//       .fullPivHouseholderQr()
+//       .solve(lhs.transpose())
+//       .transpose();
+// }
+
 template <typename Numerator, fcarouge::algebraic Denominator>
 constexpr auto fcarouge::operator/(const Numerator &lhs, const Denominator &rhs)
     -> fcarouge::quotient<Numerator, Denominator> {
-  return rhs.transpose()
-      .fullPivHouseholderQr()
-      .solve(lhs.transpose())
-      .transpose();
+  assert(false);
+  static_cast<void>(lhs);
+  static_cast<void>(rhs);
+  return {};
 }
 
 namespace fcarouge::benchmark {

diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
@@ -84,6 +84,7 @@ install(
   TARGETS kalman
   EXPORT "kalman-target"
   FILE_SET "kalman_headers")
+# Redundant from cmake/install?
 install(
   EXPORT "kalman-target"
   NAMESPACE "kalman::"

diff --git a/include/fcarouge/internal/utility.hpp b/include/fcarouge/internal/utility.hpp
@@ -118,6 +118,9 @@ template <typename Matrix>
   requires requires(Matrix value) { value.Zero(); }
 inline const auto zero_v<Matrix>{Matrix::Zero()};
 
+inline constexpr auto adl_transpose{
+    [](const auto &value) { return transpose(value); }};
+
 struct transpose final {
   template <arithmetic Arithmetic>
   [[nodiscard]] inline constexpr auto
@@ -130,6 +133,11 @@ struct transpose final {
   [[nodiscard]] inline constexpr auto operator()(const Matrix &value) const {
     return value.transpose();
   }
+
+  template <typename Matrix>
+  [[nodiscard]] inline constexpr auto operator()(const Matrix &value) const {
+    return adl_transpose(value);
+  }
 };
 
 //! @todo The dimensional analysis shows the deduction of matrices gives us the
@@ -148,6 +156,38 @@ struct deducer final {
                                                  const Rhs &rhs) const
       -> decltype(lhs / rhs);
 
+  // Type-erased matrix first party linear algebra support.
+  template <template <typename, auto, auto> typename Matrix, typename Type,
+            auto M, auto N, auto O>
+    requires(M > 1 || O > 1)
+  [[nodiscard]] inline constexpr auto
+  operator()(const Matrix<Type, M, N> &lhs, const Matrix<Type, O, N> &rhs) const
+      -> Matrix<Type, M, O>;
+
+  template <template <typename, auto, auto> typename Matrix, typename Type,
+            auto N>
+  [[nodiscard]] inline constexpr auto
+  operator()(const Matrix<Type, 1, N> &lhs, const Matrix<Type, 1, N> &rhs) const
+      -> Type;
+
+  template <template <typename, auto, auto> typename Lhs, typename Type, auto M>
+  // requires(M > 1)
+  [[nodiscard]] inline constexpr auto operator()(const Lhs<Type, M, 1> &lhs,
+                                                 arithmetic auto rhs) const
+      -> Lhs<Type, M, 1>;
+
+  //! @todo Coerce type and arithmetic to be the same.
+  template <template <typename, auto, auto> typename Rhs, typename Type, auto O>
+  // requires(O > 1)
+  [[nodiscard]] inline constexpr auto
+  operator()(arithmetic auto lhs, const Rhs<Type, O, 1> &rhs) const
+      -> Rhs<Type, 1, O>;
+
+  // template <template <typename, auto, auto> typename Rhs, typename Type, auto
+  // O>
+  // [[nodiscard]] inline constexpr auto
+  // operator()(arithmetic auto lhs, const Rhs<Type, 1, 1> &rhs) const -> Type;
+
   // Type-erased Eigen third party linear algebra support.
   template <eigen Lhs, eigen Rhs>
   [[nodiscard]] inline constexpr auto operator()(const Lhs &lhs,

diff --git a/linalg/CMakeLists.txt b/linalg/CMakeLists.txt
@@ -45,3 +45,7 @@ FetchContent_MakeAvailable(eigen)
 add_library(kalman_linalg_eigen INTERFACE)
 target_include_directories(kalman_linalg_eigen INTERFACE "eigen")
 target_link_libraries(kalman_linalg_eigen INTERFACE Eigen3::Eigen kalman)
+
+add_library(kalman_linalg_lazy INTERFACE)
+target_include_directories(kalman_linalg_lazy INTERFACE "lazy")
+target_link_libraries(kalman_linalg_lazy INTERFACE kalman)