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update pybind, ci create package
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@rafaelrojasmiliani
rafaelrojasmiliani committed Mar 15, 2024
1 parent 6c7a40d commit 4b7c2c8
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Showing 3 changed files with 57 additions and 36 deletions.
27 changes: 27 additions & 0 deletions .github/workflows/build.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -58,3 +58,30 @@ jobs:
steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.python ||
steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.bindings ||
steps.image_modify_date.outputs.image < steps.image_modify_date.outputs.base_image
buildpackage:
name: build dep package
runs-on: ubuntu-latest
container:
image: bar/cat:foo
runs-on: ubuntu-latest
- name: Git Sumbodule Update ad build
run: |
apt-get update
DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends -o Dpkg::Options::="--force-confnew" git ros-noetic-ifopt libgtest-dev
git clone --recursive https://github.com/rafaelrojasmiliani/gsplines_cpp.git
cd gsplines_cpp
mkdir build
cd build
bash -c "source /opt/ros/noetic/setup.bash && cmake .. && make -j2 && cpack -G DEB"
- name: Upload binaries to release
uses: svenstaro/upload-release-action@v2
with:
repo_token: ${{ secrets.GITHUB_TOKEN }}
file: gsplines_cpp/build/gsplines-0.0.1-amd64.deb
asset_name: gsplines-0.0.1-amd64.deb
tag: package
overwrite: true
body: "Debian pack"
2 changes: 1 addition & 1 deletion modules/pybind11
Submodule pybind11 updated 182 files
64 changes: 29 additions & 35 deletions src/Basis/Basis.cpp
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Original file line number Diff line number Diff line change
@@ -1,8 +1,9 @@
#include <chrono>
#include <gsplines/Basis/Basis.hpp>
#include <gsplines/Basis/Basis0101.hpp>
#include <gsplines/Basis/BasisLagrange.hpp>
#include <gsplines/Basis/BasisLegendre.hpp>
#include <gsplines/Tools.hpp>
#include <chrono>
#include <iostream>
#include <math.h>
#include <memory>
Expand All @@ -11,36 +12,42 @@ namespace gsplines {

namespace basis {

std::shared_ptr<Basis> get_basis(const std::string &_basis_name,
std::shared_ptr<Basis> get_basis(const std::string& _basis_name,
std::size_t _dim,
const std::vector<double> &_params) {
const std::vector<double>& _params) {
return get_basis(
_basis_name, _dim,
Eigen::Map<const Eigen::VectorXd>(_params.data(), _params.size()));
}

std::shared_ptr<Basis>
get_basis(const std::string &_basis_name, std::size_t _dim,
const Eigen::Ref<const Eigen::VectorXd> _params) {
std::shared_ptr<Basis> get_basis(
const std::string& _basis_name, std::size_t _dim,
const Eigen::Ref<const Eigen::VectorXd> _params) {
if (_basis_name == "lagrange") {
return BasisLagrange::get(_params);
} else if (_basis_name == "legendre") {
return BasisLegendre::get(_dim);
} else if (_basis_name == "basis0101") {
if (_params.size() != 1) {
throw std::invalid_argument(
"You need a double parameter to instantiate basis0101");
}

return std::make_shared<Basis0101>(_params(0));
}

throw std::invalid_argument("basis name does not exists");
return std::make_shared<BasisLagrange>(_params);
return nullptr;
}

const Eigen::SparseMatrix<double, Eigen::RowMajor> &Basis::continuity_matrix(
const Eigen::SparseMatrix<double, Eigen::RowMajor>& Basis::continuity_matrix(
std::size_t _number_of_intervals, std::size_t _codom_dim,
std::size_t _deriv_order,
Eigen::Ref<const Eigen::VectorXd> _interval_lengths) const {

if (not(continuity_matrix_buff_.count(_number_of_intervals) and
continuity_matrix_buff_[_number_of_intervals].count(_codom_dim) and
continuity_matrix_buff_[_number_of_intervals][_codom_dim].count(
_deriv_order))) {

// for each derivative degree, this fills
// (_number_of_intervals-1)*_codom_dim rows

Expand All @@ -57,28 +64,24 @@ const Eigen::SparseMatrix<double, Eigen::RowMajor> &Basis::continuity_matrix(
eval_derivative_on_window(1.0, 2.0, 0, right_buffer.row(0));

for (std::size_t der = 1; der <= _deriv_order; der++) {
const Eigen::MatrixXd &dblock = get_derivative_matrix_block(der);
const Eigen::MatrixXd& dblock = get_derivative_matrix_block(der);
left_buffer.row(der) = dblock.row(0);
right_buffer.row(der) = dblock.bottomRows(1);
}

std::size_t i0, j0;

for (std::size_t der_coor = 0; der_coor <= _deriv_order; der_coor++) {

for (std::size_t interval_coor = 0;
interval_coor < _number_of_intervals - 1; interval_coor++) {

i0 = _codom_dim * (_number_of_intervals - 1) * der_coor +
interval_coor * _codom_dim;
// fill components relative to the rhs value od the interval
j0 = interval_coor * get_dim() * _codom_dim;
for (std::size_t codom_coor = 0; codom_coor < _codom_dim;
codom_coor++) {

for (std::size_t basis_coor = 0; basis_coor < get_dim();
basis_coor++) {

result.insert(i0 + codom_coor,
j0 + basis_coor * 1.0 + get_dim() * codom_coor) =
right_buffer(der_coor, basis_coor);
Expand All @@ -88,10 +91,8 @@ const Eigen::SparseMatrix<double, Eigen::RowMajor> &Basis::continuity_matrix(
j0 = (interval_coor + 1) * get_dim() * _codom_dim;
for (std::size_t codom_coor = 0; codom_coor < _codom_dim;
codom_coor++) {

for (std::size_t basis_coor = 0; basis_coor < get_dim();
basis_coor++) {

result.insert(i0 + codom_coor,
j0 + basis_coor * 1.0 + get_dim() * codom_coor) =
-left_buffer(der_coor, basis_coor);
Expand All @@ -114,17 +115,16 @@ const Eigen::SparseMatrix<double, Eigen::RowMajor> &Basis::continuity_matrix(
[_deriv_order];
*/

Eigen::SparseMatrix<double, Eigen::RowMajor> &mat_dest =
Eigen::SparseMatrix<double, Eigen::RowMajor>& mat_dest =
continuity_matrix_dynamic_buff_[_number_of_intervals][_codom_dim]
[_deriv_order];
Eigen::SparseMatrix<double, Eigen::RowMajor> &mat_src =
Eigen::SparseMatrix<double, Eigen::RowMajor>& mat_src =
continuity_matrix_buff_[_number_of_intervals][_codom_dim][_deriv_order];

// in our case all the rows of the matrix have at more than one non-zero cell
// By this reason the outer index coincieds with the cols
for (long k = _codom_dim * (_number_of_intervals - 1);
k < mat_dest.outerSize(); ++k) {

std::size_t deg = k / (_codom_dim * (_number_of_intervals - 1));

Eigen::VectorXd deriv_factor =
Expand Down Expand Up @@ -153,23 +153,21 @@ const Eigen::SparseMatrix<double, Eigen::RowMajor> &Basis::continuity_matrix(
[_deriv_order];
}

const Eigen::SparseMatrix<double, Eigen::RowMajor> &
const Eigen::SparseMatrix<double, Eigen::RowMajor>&
Basis::gspline_derivative_matrix(
std::size_t _number_of_intervals, std::size_t _codom_dim,
std::size_t _deriv_order,
Eigen::Ref<const Eigen::VectorXd> _interval_lengths) const {

std::size_t matrix_size = _number_of_intervals * _codom_dim * get_dim();

if (not(derivative_matrix_buff_.count(_number_of_intervals) and
derivative_matrix_buff_[_number_of_intervals].count(_codom_dim) and
derivative_matrix_buff_[_number_of_intervals][_codom_dim].count(
_deriv_order))) {

Eigen::SparseMatrix<double, Eigen::RowMajor> result(matrix_size,
matrix_size);

const Eigen::MatrixXd &dmat = get_derivative_matrix_block(_deriv_order);
const Eigen::MatrixXd& dmat = get_derivative_matrix_block(_deriv_order);
for (std::size_t block = 0; block < _number_of_intervals * _codom_dim;
block++) {
std::size_t i0 = block * get_dim();
Expand All @@ -189,18 +187,17 @@ Basis::gspline_derivative_matrix(
// std::chrono::steady_clock::now();
}

Eigen::SparseMatrix<double, Eigen::RowMajor> &mat_dest =
Eigen::SparseMatrix<double, Eigen::RowMajor>& mat_dest =
derivative_matrix_dynamic_buff_[_number_of_intervals][_codom_dim]
[_deriv_order];

Eigen::SparseMatrix<double, Eigen::RowMajor> &mat_src =
Eigen::SparseMatrix<double, Eigen::RowMajor>& mat_src =
derivative_matrix_buff_[_number_of_intervals][_codom_dim][_deriv_order];

Eigen::VectorXd deriv_factor =
Eigen::pow(2.0 / _interval_lengths.array(), _deriv_order);

for (long k = 0; k < mat_dest.outerSize(); ++k) {

// std::size_t deg = k / (_codom_dim * (_number_of_intervals - 1));

Eigen::SparseMatrix<double, Eigen::RowMajor>::InnerIterator it_dest(
Expand All @@ -218,12 +215,9 @@ Basis::gspline_derivative_matrix(
[_deriv_order];
}

bool Basis::operator==(const Basis &_that) const {

if (get_name() != _that.get_name())
return false;
if (get_dim() != _that.get_dim())
return false;
bool Basis::operator==(const Basis& _that) const {
if (get_name() != _that.get_name()) return false;
if (get_dim() != _that.get_dim()) return false;

if (parameters_int_.size() != _that.parameters_int_.size() or
parameters_float_.size() != _that.parameters_float_.size())
Expand All @@ -233,5 +227,5 @@ bool Basis::operator==(const Basis &_that) const {
gsplines::tools::approx_equal(parameters_float_,
_that.parameters_float_, 1.0e-6);
}
} // namespace basis
} // namespace gsplines
} // namespace basis
} // namespace gsplines

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