The generated function names now include the containing namespace.
For example:
std::abs(...)
std::sin(...)
ceres::Ternary(...)
This patch also fixes the generation of inf/nan compile time constants,
using std::numeric_limits.
Change-Id: I4a36b09c68dd2adabed49fd4f7f37c8229ab7377
- As Problem contains a unique_ptr<ProblemImpl> and as defaulted
methods are declared inline where ProblemImpl's implementation is not
available use of '= default' will generate compile errors on strict
compilers.
- This CL moves the definition of defaulted methods to the
implementation.
Change-Id: I7d79757cf684378fadef8e6f4000c84387018cdb
The move constructor and move =operator are not required. They make
the code more complex and prone to bugs. The few saved assignments
are all trivial and are optimized away by the compiler or our
optimizer.
In fact, there is a bug in the current move-constructor implementation
that occurs, for example, when moving Eigen matrices around.
Change-Id: I013796495bb39f3f27677111bd0aaf49e2454e20
This CL improves the build experience with MSVC:
- It adds the build flag '/bigobj' otherwise the build of
the unit test fails.
- It adds the flag '/wd4267' to suppress signed / unsigned int
conversions (size_t to int).
- It removes the use of std::aligned_storage from FixedArray.
This has been done from the Abseil Team and is in the
absl::FixedArray. Those changes has been ported to ceres.
This fixes the alignemnt for older MSVC versions due to a
bug in the implementation of std::aligned_storage, and
prevents the use of the macro '_ENABLE_EXTENDED_ALIGNED_STORAGE'
for newer MSVC versions, which is problematic as it could affect
user code.
- Fix of the fixed array unit test. Due to the use of std::tuple
instead of absl::tuple in ceres::internal::FixedArray, the
unit test needs to reflect that change as well.
- Replaces 'add_definitions' with 'add_compile_options' for
compiler flags as suggested by the cmake documentation.
Change-Id: I63f08cd6c0a8db8c9931289b909b4deafd75b039
ExpressionId FindMatchingEndif(ExpressionId id)
- Finds the closing ENDIF expression for a given IF expression.
ExpressionId FindMatchingElse(ExpressionId id)
- Finds the ELSE expression for a given IF expression.
- Returns -1, if this IF doesn't have an else
This patch is a preparation to the code analyzing required
for various optimization passes.
Change-Id: I893102a757c6a0bcacbcc1190c2b8ef08314eb97
This CL fixes and simplifies the implementation of InvertPSDMatrix.
InvertPSDMatrix uses a JacobiSVD with thin U and V. This requires a
variable number of columns, which is not always the case, which
triggers an assert in debug mode. The type of the matrix is changed
to always use a dynamic number of columns.
In addition, instead of calculating the inverse of the matrix by hand,
the SVD solve method is used.
Change-Id: I353c741cf537b58eb5b18663902318babe1a66de
This CL removes a not used using declaration
which will cause a warning when compiled with
-Wunused-local-typedef under gcc.
Change-Id: Ie4cfd5d1fed9bee860e387545e60d92d257da4f4
The comment expression allows the user to insert single-line
comments into the generated code. These will not be moved or
optimized away.
Comment expressions should make it easier to understand the
generated autodiff code.
Change-Id: Ie87d0698aa6af2aac8a437a13b25e0fef33dbfdc
Use the CMake provided module CMakePackageConfigHelpers and its function
write_basic_package_version_file() to write the CeresConfigVersion.cmake
file to be installed.
Use SameMajorVersion compatibility flag.
Change-Id: I353aa8ede1ffee34e58b41371958ed5dedca4104
Ceres-solver provides a custom uninstall target to ease the removal of
installed files from the system. This clashes with other projects, that
too provide an uninstall target (like Eigen3).
Related issue: https://github.com/ceres-solver/ceres-solver/issues/451#issuecomment-565571090
Change-Id: Id153830ae20a880d23c7468acb39f55f48a2129a
- Required after updates to use Eigen's own Eigen3Config.cmake instead
of our original FindEigen.cmake module.
Change-Id: I9b5ad43fa153713c64fc01d638611e9bae3a169b
The autodiff code generator is extended in the following ways:
- Evaluate the complete jacobian into a temporary array
- Copy the temporary jacobian to the result if != NULL
Change-Id: If5ed0bff3b31e93a2d7d5dc718862cb648dba474
Before this patch the return type was implicitly defined by the
ExpressionType. This patch separates this connection and allows
each Expression to have one of the predefined types (scalar,
boolean, void).
This patch is required to add support for the functions isfinite,
isinf, isnan, and isnormal. These are function taking a double and
returning a bool.
This also moves some complexity of the code generator to the
Expression, because the generator can direclty get the c++ type.
Change-Id: I8b32bab1bfab2f668875e506d6f3b789a5d1f3fd
- Move codegen tests to a sub directory
- Add tests for all functions of Expression, ExpressionRef, and ExpressionGraph
- Respect dependencies during tests: The ExpressionGraph test doesn't
use ExpressionRef anymore.
The new tests revealed a few bugs so the following changes were made:
- Expression::MakeNop now resets the current expression with the default
constructed NOP expression
- ExpressionGraph::Insert now updates the lhs_id the same way as
InsertBack()
Change-Id: I6a18925c1e4d972c29ec1219f2073b4eaf2df737
Objects of 'Expression' can now be freely created and copied around.
This creation does NOT add them to the active ExpressionGraph any
more. The insertion into the graph is now done by ExpressionRef,
which explicitly call graph.add(...) in each operation.
This change brings the following advantages:
1. 'Expression' is now stand-alone and side-effect free
- Remove the dependency Expression->ExpressionGraph
- Expressions can be created by the optimizer
2. Explicit graph insertion
- Previously CreateCompileTimeConstant not only created an
expression, but also inserted it into the active graph. Now
this insertion is done explicitly by ExpressionRef
3. It is now easier to insert new types and members
- Should be straight forward now, because we got rid of the
3-way dependency
- This is a preparation patch for the new return-type member in
https://ceres-solver-review.googlesource.com/c/ceres-solver/+/16224
Change-Id: Icef2fe529a4db001a10d1fb6816c9dc681b14ff2
After this patch, users have to add -DCODE_GENERATION=ON to the
cmake command, if they want to compile the code generation module.
A warning is printed if they enable code generation.
This informs the users that the code generation is still under
development and should be used with care. Also, we don't break
the master branch immediately if one of the bigger codegen
patches fails to build on some platform.
When this system is finished, we can enable it by default or
remove this option again.
Change-Id: Ib26498f0d5bd8b3c165807ffd774c057c2d21d39
when using the command target_link_libraries explicitly state if the
linked library needs to be linked publicly or only private
Change-Id: I44eb7cb7ed06fdab12412963e6ce705b1fb718b4
The public API for the Autodiff Codegen system consist of a single
function, GenerateCodeForFunctor. This function takes as template
argument a cost functor type and the residual/parameter structure.
The output is the C++ for the residual and derivative. This class
mainly serves as a wrapper for the different codegen modules.
Change-Id: I8ee974199219805d54eed5e07c0e8d1394940779
User defined cost functors have to include this new header
instead of internal/expression_ref.h. This hides some
complexity of ExpressionRef and reduces compile time outside
of code generation mode.
This patch also removes the dependency ExpressionRef->Jet.
Change-Id: Ie3f93648775e14881dc5cfab213bbc983c6cfeee
The move constructor of ExpressionRef now implements the copy
elision, which was incorrectly done by the copy constructor.
This patch also updates the CMakeList to only add the
Expression tests for gcc. This is currently required, because
the AutoDiffCodeGen system relies on implementation defined
behaviour. (Evalution order + copy elision)
Change-Id: Ib17aeb22bd4d81de6d838b55c1b6497fb3740d0e
Currently there is a bug in the copy constructor of ExpressionRef.
Fixing this bug, will create new expressions each time a copy is
executed. To reduce the amount of copy expression we pass
ExpressionRef by const reference now.
Change-Id: I0f81fb3d08aa4c66b9191f3138650f17023af67e
This functions allows the insertion of new expression anywhere into
the graph. All references are updated. This will be used by semantic
expression testing and by the optimizer.
Change-Id: Ieafcfec7672f6328106dc0511c85d6fb5bd64d97
- Add operator== for comparing Expressions and ExpressionGraphs.
- Remove the broken Jet-test for now. (Will be added again later)
Change-Id: I3ee1599e8a0b50fa61c16f30812c78db7333f273
Due to the removed definition, calling this method will result
in a compile-time error instead of a run-time error.
Change-Id: Iac2514c05d79a66fcbad124587d08eb9309aa6a5
- Remove TERNARY (replaced by function call)
- Combine PARAMETER and RUNTIME_CONSTANT into INPUT_ASSIGNMENT
Change-Id: Id35fb45da08a9f80c1ac0dab7008deb0b3922835
- Add missing copy constructor
- Add make functions for input/output expressions
- Add missing ExpressionRef overload for MakeRuntimeConstant
- Add ExpressionRef overloads for common functions (cos,exp,...)
- Make ExpressionRef constructor from double implicit
- Add simple test for using ExpressionRef in Jets.
- Rename expression test macro
Change-Id: I071dc6717e4034a281662021998a91e80636da27
- Fix Homebrew Ruby errors by forcing brew update before install.
- Remove use of custom Eigen 3.3.4 on Linux in favour of default Bionic
3.3.4 package.
- Update Android NDK version to R20b and build for arm64-v8.
- Fix erroneous string -> STRING in iOS toolchain file.
Change-Id: I041c2a08b92b8307c12bd8967159beb6984e3c65
- As detailed in a previous CL, Xcode 11.0-1 exhibited a -fstack-check
bug on 10.15 Catalina that broke alignment for at least AVX
instructions causing segfaults from within Eigen.
- As Xcode 11.2 fixes this issue, and is probably a more reliable fix
than -fno-stack-check, we now require the user update in this case.
Change-Id: I482748fe5f40f82e7daf4da133cdfabbd95ffc89
- Expression types for if/else blocks
- CERES_IF/ELSE macros
- Multiple assignment to the same variable
Change-Id: If529516f243f31823d1ef7b8827bb6f2390e418d
- On macOS 10.15 and Xcode 11 -fstack-check is enabled by default. This
breaks SIMD alignment (and other alignment) as detailed here:
https://forums.developer.apple.com/thread/121887 resulting in random
segfaults from within Eigen.
- The underlying problem also exists with earlier OS versions running
Xcode 11 if -fstack-check is explicitly enabled.
- This CL explicitly disables -fstack-check on affected versions of
macOS 10.15 and Xcode 11.
Change-Id: I74d964281c360710d5fb722ac59e6930b0fdcc41
In the docs, `Solver::Options::gradient_check_relative_precision` is
documented to have a default precision of 1e08. That is incorrect, it
should be 1e-8.
Change-Id: Ib6b29e356738de4b555c77f7ffd1224d0cae4b6a
This patch adds the 'Expression' class, which is a fundamental
building block of automatic code generation. The expressions can
be used as scalar types for cost functors as well as Jets.
Dynamic branching is not yet supported.
Change-Id: I8c61bee5c307e0eec20fd39382683ea90f720dff
Darius Rueckert