[filter] support constexpr linear algebra

FrancoisCarouge · Jun 26, 2023 · 591a90b · 591a90b
1 parent cf58352
commit 591a90b
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Showing 17 changed files with 872 additions and 39 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
@@ -54,8 +54,7 @@ FetchContent_MakeAvailable(google_benchmark)
 
 set(PROCESSOR_AFFINITY TRUE)
 
-foreach(BENCHMARK "baseline.cpp" "predict_1x1x0.cpp" "predict_1x1x1.cpp"
-                  "update_1x1x0.cpp" "update_1x1x1.cpp")
+foreach(BENCHMARK )
   get_filename_component(NAME ${BENCHMARK} NAME_WE)
   add_executable(kalman_benchmark_${NAME}_driver ${BENCHMARK})
   target_include_directories(kalman_benchmark_${NAME}_driver PRIVATE "include")
@@ -70,7 +69,7 @@ foreach(BENCHMARK "baseline.cpp" "predict_1x1x0.cpp" "predict_1x1x1.cpp"
            "--benchmark_out=${NAME}.json")
 endforeach()
 
-foreach(BACKEND IN ITEMS "eigen")
+foreach(BACKEND IN ITEMS)
   foreach(STATE_SIZE RANGE 1 2)
     foreach(OUTPUT_SIZE RANGE 1 2)
       configure_file(update_linalg_xx0.cpp

diff --git a/include/fcarouge/internal/utility.hpp b/include/fcarouge/internal/utility.hpp
@@ -96,6 +96,9 @@ template <typename Type> struct not_implemented {
   static_assert(none, "This type is not implemented. See message.");
 };
 
+inline constexpr auto adl_transpose{
+    [](const auto &value) { return transpose(value); }};
+
 struct transpose final {
   template <arithmetic Arithmetic>
   [[nodiscard]] inline constexpr auto
@@ -108,6 +111,11 @@ 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
@@ -126,6 +134,38 @@ 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 kalman_generator)