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FrancoisCarougeFrancoisCarouge
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[eigen] isolate eigen backend linear algebra support
1 parent 6dd4e1f commit 77263ce

30 files changed

+1622
-360
lines changed

‎.github/workflows/cppcheck.yml

+1
Original file line numberDiff line numberDiff line change
@@ -50,4 +50,5 @@ jobs:
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--verbose \
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-I benchmark/include \
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-I include \
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-I linalg/eigen \
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.

‎CMakeLists.txt

+1
Original file line numberDiff line numberDiff line change
@@ -58,6 +58,7 @@ include(GNUInstallDirs)
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add_subdirectory(benchmark)
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add_subdirectory(cmake)
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add_subdirectory(include)
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add_subdirectory(linalg)
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add_subdirectory(pkgconfig)
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add_subdirectory(sample)
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add_subdirectory(source)

‎benchmark/CMakeLists.txt

+44-46
Original file line numberDiff line numberDiff line change
@@ -38,12 +38,6 @@ For more information, please refer to <https://unlicense.org> ]]
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include(FetchContent)
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41-
FetchContent_Declare(
42-
eigen
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GIT_REPOSITORY "https://gitlab.com/libeigen/eigen"
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FIND_PACKAGE_ARGS NAMES Eigen3)
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FetchContent_MakeAvailable(eigen)
46-
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FetchContent_Declare(
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google_test
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GIT_REPOSITORY "https://github.com/google/googletest"
@@ -76,45 +70,49 @@ foreach(BENCHMARK "baseline.cpp" "predict_1x1x0.cpp" "predict_1x1x1.cpp"
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"--benchmark_out=${NAME}.json")
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endforeach()
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79-
foreach(STATE_SIZE RANGE 1 2)
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foreach(OUTPUT_SIZE RANGE 1 2)
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configure_file(eigen_update_xx0.cpp
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eigen_update_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
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get_filename_component(NAME eigen_update_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp
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NAME_WE)
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add_executable(kalman_benchmark_${NAME}_driver
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eigen_update_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
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target_include_directories(kalman_benchmark_${NAME}_driver
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PRIVATE "include")
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set_target_properties(kalman_benchmark_${NAME}_driver
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PROPERTIES CXX_STANDARD 23)
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set_target_properties(kalman_benchmark_${NAME}_driver
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PROPERTIES CXX_EXTENSIONS OFF)
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target_link_libraries(
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kalman_benchmark_${NAME}_driver
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PRIVATE benchmark::benchmark benchmark::benchmark_main Eigen3::Eigen
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kalman)
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add_test(kalman_benchmark_${NAME} kalman_benchmark_${NAME}_driver
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"--benchmark_out=${NAME}.json")
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endforeach()
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foreach(INPUT_SIZE RANGE 1 2)
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configure_file(eigen_predict_x1x.cpp
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eigen_predict_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
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get_filename_component(NAME eigen_predict_${STATE_SIZE}x1x${INPUT_SIZE}.cpp
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NAME_WE)
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add_executable(kalman_benchmark_${NAME}_driver
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eigen_predict_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
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target_include_directories(kalman_benchmark_${NAME}_driver
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PRIVATE "include")
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set_target_properties(kalman_benchmark_${NAME}_driver
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PROPERTIES CXX_STANDARD 23)
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set_target_properties(kalman_benchmark_${NAME}_driver
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PROPERTIES CXX_EXTENSIONS OFF)
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target_link_libraries(
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kalman_benchmark_${NAME}_driver
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PRIVATE benchmark::benchmark benchmark::benchmark_main Eigen3::Eigen
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kalman)
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add_test(kalman_benchmark_${NAME} kalman_benchmark_${NAME}_driver
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"--benchmark_out=${NAME}.json")
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foreach(BACKEND IN ITEMS "eigen")
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foreach(STATE_SIZE RANGE 1 2)
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foreach(OUTPUT_SIZE RANGE 1 2)
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configure_file(update_linalg_xx0.cpp
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update_linalg_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
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get_filename_component(
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NAME update_linalg_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp NAME_WE)
80+
add_executable(kalman_${BACKEND}_benchmark_${NAME}_driver
81+
update_linalg_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
82+
target_include_directories(kalman_${BACKEND}_benchmark_${NAME}_driver
83+
PRIVATE "include")
84+
set_target_properties(kalman_${BACKEND}_benchmark_${NAME}_driver
85+
PROPERTIES CXX_STANDARD 23)
86+
set_target_properties(kalman_${BACKEND}_benchmark_${NAME}_driver
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PROPERTIES CXX_EXTENSIONS OFF)
88+
target_link_libraries(
89+
kalman_${BACKEND}_benchmark_${NAME}_driver
90+
PRIVATE benchmark::benchmark benchmark::benchmark_main kalman
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kalman_linalg_${BACKEND})
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add_test(kalman_${BACKEND}_benchmark_${NAME}
93+
kalman_${BACKEND}_benchmark_${NAME}_driver
94+
"--benchmark_out=${NAME}.json")
95+
endforeach()
96+
foreach(INPUT_SIZE RANGE 1 2)
97+
configure_file(predict_linalg_x1x.cpp
98+
predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
99+
get_filename_component(
100+
NAME predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}.cpp NAME_WE)
101+
add_executable(kalman_${BACKEND}_benchmark_${NAME}_driver
102+
predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
103+
target_include_directories(kalman_${BACKEND}_benchmark_${NAME}_driver
104+
PRIVATE "include")
105+
set_target_properties(kalman_${BACKEND}_benchmark_${NAME}_driver
106+
PROPERTIES CXX_STANDARD 23)
107+
set_target_properties(kalman_${BACKEND}_benchmark_${NAME}_driver
108+
PROPERTIES CXX_EXTENSIONS OFF)
109+
target_link_libraries(
110+
kalman_${BACKEND}_benchmark_${NAME}_driver
111+
PRIVATE benchmark::benchmark benchmark::benchmark_main kalman
112+
kalman_linalg_${BACKEND})
113+
add_test(kalman_${BACKEND}_benchmark_${NAME}
114+
kalman_${BACKEND}_benchmark_${NAME}_driver
115+
"--benchmark_out=${NAME}.json")
116+
endforeach()
119117
endforeach()
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endforeach()

‎benchmark/eigen_predict_x1x.cpp ‎benchmark/predict_linalg_x1x.cpp

+11-9
Original file line numberDiff line numberDiff line change
@@ -39,8 +39,8 @@ For more information, please refer to <https://unlicense.org> */
3939
#include "benchmark.hpp"
4040
#include "fcarouge/internal/utility.hpp"
4141
#include "fcarouge/kalman.hpp"
42+
#include "fcarouge/linalg.hpp"
4243

43-
#include <Eigen/Eigen>
4444
#include <benchmark/benchmark.h>
4545

4646
#include <algorithm>
@@ -53,27 +53,29 @@ For more information, please refer to <https://unlicense.org> */
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5454
namespace fcarouge::benchmark {
5555
namespace {
56-
template <auto Size> using vector = Eigen::Vector<float, Size>;
56+
template <auto Size> using vector = column_vector<float, Size>;
5757

5858
//! @benchmark Measure the prediction of the filter for different dimensions of
5959
//! states and inputs with the Eigen linear algebra backend.
60-
template <std::size_t StateSize, std::size_t InputSize>
60+
template <auto StateSize, auto InputSize>
6161
void bench(::benchmark::State &state) {
62-
using kalman = kalman<vector<StateSize>, float, vector<InputSize>>;
62+
using kalman = kalman<vector<StateSize>, vector<1>, vector<InputSize>>;
6363

6464
kalman filter;
6565
std::random_device random_device;
6666
std::mt19937 random_generator{random_device()};
6767
std::uniform_real_distribution<float> uniformly_distributed;
6868

6969
for (auto _ : state) {
70-
typename kalman::input u;
70+
float uv[InputSize];
7171

72-
internal::for_constexpr<std::size_t{0}, InputSize, 1>(
73-
[&u, &uniformly_distributed, &random_generator](auto position) {
74-
u[position] = uniformly_distributed(random_generator);
72+
internal::for_constexpr<0, InputSize, 1>(
73+
[&uv, &uniformly_distributed, &random_generator](auto position) {
74+
uv[position] = uniformly_distributed(random_generator);
7575
});
7676

77+
typename kalman::input u{uv};
78+
7779
::benchmark::ClobberMemory();
7880
const auto start{clock::now()};
7981

@@ -89,7 +91,7 @@ void bench(::benchmark::State &state) {
8991
//! @todo Find a way to remove macros or find a different benchmark library that
9092
//! doesn't use macros.
9193
BENCHMARK(bench<${STATE_SIZE}, ${INPUT_SIZE}>)
92-
->Name("eigen_predict_${STATE_SIZE}x1x${INPUT_SIZE}")
94+
->Name("predict_linalg_${STATE_SIZE}x1x${INPUT_SIZE}")
9395
->Unit(::benchmark::kNanosecond)
9496
->ComputeStatistics("min",
9597
[](const auto &results) {

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