[filter] declarative paradigm

FrancoisCarouge · Jan 26, 2024 · 76d949b · 76d949b
1 parent 4331741
commit 76d949b
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diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
@@ -54,8 +54,12 @@ 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
+  "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")
@@ -75,66 +79,44 @@ foreach(BENCHMARK "baseline.cpp" "predict_1x1x0.cpp" "predict_1x1x1.cpp"
             "--benchmark_out=${NAME}.json")
 endforeach()
 
-foreach(BACKEND IN ITEMS "eigen" "naive")
-  foreach(STATE_SIZE RANGE 1 2)
-    foreach(INPUT_SIZE RANGE 1 2)
-      configure_file(predict_linalg_x1x.cpp
-                     predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
-      add_executable(
-        kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver
-        predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
-      target_include_directories(
-        kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver
-        PRIVATE "include")
-      set_target_properties(
-        kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver
-        PROPERTIES CXX_STANDARD 23
-                   CXX_EXTENSIONS OFF
-                   INTERPROCEDURAL_OPTIMIZATION TRUE)
-      target_link_libraries(
-        kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver
-        PRIVATE benchmark::benchmark benchmark::benchmark_main kalman
-                kalman_linalg_${BACKEND} kalman_options)
-      separate_arguments(TEST_COMMAND UNIX_COMMAND $ENV{COMMAND})
-      add_test(
-        NAME kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}
-        COMMAND
-          ${TEST_COMMAND}
-          $<TARGET_FILE:kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver>
-          "--benchmark_out=predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}.json"
-      )
-    endforeach()
-  endforeach()
-endforeach()
+# foreach(BACKEND IN ITEMS "eigen" "naive") foreach(STATE_SIZE RANGE 1 2)
+# foreach(INPUT_SIZE RANGE 1 2) configure_file(predict_linalg_x1x.cpp
+# predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}.cpp) add_executable(
+# kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver
+# predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
+# target_include_directories(
+# kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver
+# PRIVATE "include") set_target_properties(
+# kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver
+# PROPERTIES CXX_STANDARD 23 CXX_EXTENSIONS OFF INTERPROCEDURAL_OPTIMIZATION
+# TRUE) target_link_libraries(
+# kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver
+# PRIVATE benchmark::benchmark benchmark::benchmark_main kalman
+# kalman_linalg_${BACKEND} kalman_options) separate_arguments(TEST_COMMAND
+# UNIX_COMMAND $ENV{COMMAND}) add_test( NAME
+# kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE} COMMAND
+# ${TEST_COMMAND}
+# $<TARGET_FILE:kalman_benchmark_predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}_driver>
+# "--benchmark_out=predict_${BACKEND}_${STATE_SIZE}x1x${INPUT_SIZE}.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_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
-      add_executable(
-        kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
-        update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
-      target_include_directories(
-        kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
-        PRIVATE "include")
-      set_target_properties(
-        kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
-        PROPERTIES CXX_STANDARD 23
-                   CXX_EXTENSIONS OFF
-                   INTERPROCEDURAL_OPTIMIZATION TRUE)
-      target_link_libraries(
-        kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
-        PRIVATE benchmark::benchmark benchmark::benchmark_main kalman
-                kalman_linalg_${BACKEND} kalman_options)
-      separate_arguments(TEST_COMMAND UNIX_COMMAND $ENV{COMMAND})
-      add_test(
-        NAME kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0
-        COMMAND
-          ${TEST_COMMAND}
-          $<TARGET_FILE:kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver>
-          "--benchmark_out=update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0.json"
-      )
-    endforeach()
-  endforeach()
-endforeach()
+# foreach(BACKEND IN ITEMS "eigen") foreach(STATE_SIZE RANGE 1 2)
+# foreach(OUTPUT_SIZE RANGE 1 2) configure_file(update_linalg_xx0.cpp
+# update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp) add_executable(
+# kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
+# update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
+# target_include_directories(
+# kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
+# PRIVATE "include") set_target_properties(
+# kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
+# PROPERTIES CXX_STANDARD 23 CXX_EXTENSIONS OFF INTERPROCEDURAL_OPTIMIZATION
+# TRUE) target_link_libraries(
+# kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver
+# PRIVATE benchmark::benchmark benchmark::benchmark_main kalman
+# kalman_linalg_${BACKEND} kalman_options) separate_arguments(TEST_COMMAND
+# UNIX_COMMAND $ENV{COMMAND}) add_test( NAME
+# kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0 COMMAND
+# ${TEST_COMMAND}
+# $<TARGET_FILE:kalman_benchmark_update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0_driver>
+# "--benchmark_out=update_${BACKEND}_${STATE_SIZE}x${OUTPUT_SIZE}x0.json" )
+# endforeach() endforeach() endforeach()
diff --git a/include/fcarouge/internal/format.hpp b/include/fcarouge/internal/format.hpp
@@ -45,27 +45,23 @@ For more information, please refer to <https://unlicense.org> */
 #include <type_traits>
 
 namespace fcarouge {
-template <typename, typename, typename, typename, typename> class kalman;
+template <typename> class kalman;
 } // namespace fcarouge
 
-template <typename State, typename Output, typename Input, typename UpdateTypes,
-          typename PredictionTypes, typename Char>
+template <typename Filter, typename Char>
 // It is allowed to add template specializations for any standard library class
 // template to the namespace std only if the declaration depends on at least one
 // program-defined type and the specialization satisfies all requirements for
 // the original template, except where such specializations are prohibited.
 // NOLINTNEXTLINE(cert-dcl58-cpp)
-struct std::formatter<
-    fcarouge::kalman<State, Output, Input, UpdateTypes, PredictionTypes>,
-    Char> {
+struct std::formatter<fcarouge::kalman<Filter>, Char> {
   constexpr auto parse(std::basic_format_parse_context<Char> &parse_context) {
     return parse_context.begin();
   }
 
   //! @todo P2585 may be useful in simplifying and standardizing the support.
   template <typename OutputIt>
-  auto format(const fcarouge::kalman<State, Output, Input, UpdateTypes,
-                                     PredictionTypes> &filter,
+  auto format(const fcarouge::kalman<Filter> &filter,
               std::basic_format_context<OutputIt, Char> &format_context) const
       -> OutputIt {
     format_context.advance_to(
@@ -80,17 +76,19 @@ struct std::formatter<
                                         R"("h": {}, "k": {}, "p": {}, )",
                                         filter.h(), filter.k(), filter.p()));
 
-    {
-      constexpr auto end{fcarouge::internal::repack_s<PredictionTypes>};
+    [&]<template <typename> typename Type, typename InternalFilter>(
+        const Type<InternalFilter> &f) {
+      constexpr auto end{fcarouge::internal::repack_s<
+          typename InternalFilter::prediction_types>};
       constexpr decltype(end) begin{0};
       constexpr decltype(end) next{1};
       fcarouge::internal::for_constexpr<begin, end, next>(
-          [&format_context, &filter](auto position) {
+          [&format_context, &f](auto position) {
             format_context.advance_to(
                 format_to(format_context.out(), R"("prediction_{}": {}, )",
-                          position(), filter.template predict<position>()));
+                          position(), f.template predict<position>()));
           });
-    }
+    }(filter);
 
     format_context.advance_to(format_to(format_context.out(),
                                         R"("q": {}, "r": {}, "s": {}, )",
@@ -101,17 +99,19 @@ struct std::formatter<
           format_to(format_context.out(), R"("u": {}, )", filter.u()));
     }
 
-    {
-      constexpr auto end{fcarouge::internal::repack_s<UpdateTypes>};
+    [&]<template <typename> typename Type, typename InternalFilter>(
+        const Type<InternalFilter> &f) {
+      constexpr auto end{
+          fcarouge::internal::repack_s<typename InternalFilter::update_types>};
       constexpr decltype(end) begin{0};
       constexpr decltype(end) next{1};
-      fcarouge::internal::for_constexpr<begin, end, next>(
-          [&format_context, &filter](auto position) {
-            format_context.advance_to(
-                format_to(format_context.out(), R"("update_{}": {}, )",
-                          position(), filter.template update<position>()));
-          });
-    }
+      fcarouge::internal::for_constexpr<begin, end, next>([&format_context,
+                                                           &f](auto position) {
+        format_context.advance_to(format_to(format_context.out(),
+                                            R"("update_{}": {}, )", position(),
+                                            f.template update<position>()));
+      });
+    }(filter);
 
     format_context.advance_to(format_to(format_context.out(),
                                         R"("x": {}, "y": {}, "z": {}}})",

diff --git a/include/fcarouge/internal/kalman.hpp b/include/fcarouge/internal/kalman.hpp
@@ -43,18 +43,19 @@ For more information, please refer to <https://unlicense.org> */
 #include "utility.hpp"
 
 #include <tuple>
+#include <type_traits>
 
 namespace fcarouge::internal {
-template <typename, typename, typename, typename, typename>
-struct kalman final {
+template <typename, typename, typename, typename>
+struct kalman_s_o_us_ps final {
   //! @todo Support some more specializations, all, or disable others?
   //! @todo Add a pretty compilation error?
 };
 
 template <typename State, typename Output, typename... UpdateTypes,
           typename... PredictionTypes>
-struct kalman<State, Output, void, pack<UpdateTypes...>,
-              pack<PredictionTypes...>> {
+struct kalman_s_o_us_ps<State, Output, pack<UpdateTypes...>,
+                        pack<PredictionTypes...>> {
   using state = State;
   using output = Output;
   using input = empty;
@@ -163,10 +164,16 @@ struct kalman<State, Output, void, pack<UpdateTypes...>,
   }
 };
 
+template <typename, typename, typename, typename, typename>
+struct kalman_s_o_i_us_ps final {
+  //! @todo Support some more specializations, all, or disable others?
+  //! @todo Add a pretty compilation error?
+};
+
 template <typename State, typename Output, typename Input,
           typename... UpdateTypes, typename... PredictionTypes>
-struct kalman<State, Output, Input, pack<UpdateTypes...>,
-              pack<PredictionTypes...>> {
+struct kalman_s_o_i_us_ps<State, Output, Input, pack<UpdateTypes...>,
+                          pack<PredictionTypes...>> {
   using state = State;
   using output = Output;
   using input = Input;
@@ -202,14 +209,14 @@ struct kalman<State, Output, Input, pack<UpdateTypes...>,
   estimate_uncertainty p{identity_v<estimate_uncertainty>};
   process_uncertainty q{zero_v<process_uncertainty>};
   output_uncertainty r{zero_v<output_uncertainty>};
+  input u{zero_v<input>};
   output_model h{identity_v<output_model>};
   state_transition f{identity_v<state_transition>};
   input_control g{identity_v<input_control>};
   gain k{identity_v<gain>};
   innovation y{zero_v<innovation>};
   innovation_uncertainty s{identity_v<innovation_uncertainty>};
   output z{zero_v<output>};
-  input u{zero_v<input>};
   update_types update_arguments{};
   prediction_types prediction_arguments{};
   transpose t{};
@@ -293,6 +300,125 @@ struct kalman<State, Output, Input, pack<UpdateTypes...>,
     p = estimate_uncertainty{f * p * t(f) + q};
   }
 };
+
+template <typename Type> struct state {
+  Type value;
+  using type = Type;
+};
+
+template <typename Type> struct estimate_uncertainty {
+  Type value;
+  using type = Type;
+};
+
+template <typename Type> struct output_uncertainty {
+  Type value;
+  using type = Type;
+};
+
+template <typename Type> struct process_uncertainty {
+  Type value;
+  using type = Type;
+};
+
+//! @todo Should we just use the template syntax instead of allowing value
+//! construction/CTAD?
+template <typename Type> struct input {
+  Type value;
+  using type = Type;
+};
+
+template <typename Type> struct output {
+  Type value;
+  using type = Type;
+};
+
+template <typename Type> struct output_model {
+  Type value;
+  using type = Type;
+};
+
+//! WHY NO WORKY?
+//! @todo Better name not ending by *_types?
+// template <typename... Types> struct update_types {
+//   inline constexpr explicit update_types(
+//       [[maybe_unused]] auto &&...any) noexcept {}
+// };
+
+template <typename... Types> using update_types = std::tuple<Types...>;
+
+// template <typename... Types> struct prediction_types {
+//   inline constexpr explicit prediction_types(
+//       [[maybe_unused]] auto &&...any) noexcept {}
+// };
+
+template <typename... Types> using prediction_types = std::tuple<Types...>;
+
+//! @todo Support arbritary order of configuration parameters?
+struct make_filter {
+  inline constexpr auto operator()() const {
+    return kalman_s_o_us_ps<double, double, empty_pack, empty_pack>{};
+  }
+
+  template <typename State, typename Input>
+  inline constexpr auto operator()(state<State> x,
+                                   [[maybe_unused]] input<Input> u) const {
+    return kalman_s_o_i_us_ps<State, State, Input, empty_pack, empty_pack>{
+        x.value};
+  }
+
+  template <typename State, typename EstimateUncertainty,
+            typename OutputUncertainty>
+  inline constexpr auto
+  operator()(state<State> x, estimate_uncertainty<EstimateUncertainty> p,
+             output_uncertainty<OutputUncertainty> r) const {
+    return kalman_s_o_us_ps<State, State, empty_pack, empty_pack>{
+        x.value, p.value, {}, r.value};
+  }
+
+  template <typename State, typename EstimateUncertainty,
+            typename OutputUncertainty, typename ProcessUncertainty>
+  inline constexpr auto
+  operator()(state<State> x, estimate_uncertainty<EstimateUncertainty> p,
+             process_uncertainty<ProcessUncertainty> q,
+             output_uncertainty<OutputUncertainty> r) const {
+    return kalman_s_o_us_ps<State, State, empty_pack, empty_pack>{
+        x.value, p.value, q.value, r.value};
+  }
+
+  template <typename State, typename Input, typename EstimateUncertainty,
+            typename OutputUncertainty, typename ProcessUncertainty>
+  inline constexpr auto
+  operator()(state<State> x, [[maybe_unused]] input<Input> u,
+             estimate_uncertainty<EstimateUncertainty> p,
+             process_uncertainty<ProcessUncertainty> q,
+             output_uncertainty<OutputUncertainty> r) const {
+    return kalman_s_o_i_us_ps<State, State, Input, empty_pack, empty_pack>{
+        x.value, p.value, q.value, r.value};
+  }
+  template <typename State, typename Input, typename EstimateUncertainty,
+            typename OutputUncertainty, typename ProcessUncertainty,
+            typename... Us, typename... Ps>
+  inline constexpr auto
+  operator()(state<State> x, [[maybe_unused]] input<Input> u,
+             estimate_uncertainty<EstimateUncertainty> p,
+             process_uncertainty<ProcessUncertainty> q,
+             output_uncertainty<OutputUncertainty> r,
+             [[maybe_unused]] update_types<Us...> uts,
+             [[maybe_unused]] prediction_types<Ps...> pts) const {
+
+    return kalman_s_o_i_us_ps<State, State, Input,
+                              repack_t<update_types<Us...>>,
+                              repack_t<prediction_types<Ps...>>>{
+        x.value, p.value, q.value, r.value};
+  }
+};
+
+inline constexpr make_filter filter{};
+
+template <typename... Arguments>
+using filter_t = std::invoke_result_t<make_filter, Arguments...>;
+
 } // namespace fcarouge::internal
 
 #endif // FCAROUGE_INTERNAL_KALMAN_HPP