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[wpimath] Fix various constexpr support bugs (#7676)

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This commit is contained in:
Tyler Veness
2025-01-13 13:44:55 -08:00
committed by GitHub
parent cd92b07321
commit 25e6549398
10 changed files with 454 additions and 73 deletions
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2
upstream_utils/eigen_patches/0001-Disable-warnings.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 18 May 2022 09:14:24 -0700
Subject: [PATCH 1/2] Disable warnings
Subject: [PATCH 1/3] Disable warnings
---
Eigen/src/Core/util/DisableStupidWarnings.h | 6 ++++++

2
upstream_utils/eigen_patches/0002-Intellisense-fix.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Fri, 20 Jan 2023 23:41:56 -0800
Subject: [PATCH 2/2] Intellisense fix
Subject: [PATCH 2/3] Intellisense fix
---
Eigen/src/Core/util/ConfigureVectorization.h | 7 +++++++

305
upstream_utils/eigen_patches/0003-Make-assignment-constexpr.patch Normal file
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@@ -0,0 +1,305 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sun, 12 Jan 2025 21:04:07 -0800
Subject: [PATCH 3/3] Make assignment constexpr
---
Eigen/src/Core/AssignEvaluator.h | 165 +++++++++++--------
Eigen/src/Core/EigenBase.h | 2 +-
Eigen/src/Core/functors/AssignmentFunctors.h | 2 +-
3 files changed, 102 insertions(+), 67 deletions(-)
diff --git a/Eigen/src/Core/AssignEvaluator.h b/Eigen/src/Core/AssignEvaluator.h
index f7f0b238b8ca70bbc9100262479cc1dbebab9979..9c2436afa7fe98692a036e6ef255ed104a5bf388 100644
--- a/Eigen/src/Core/AssignEvaluator.h
+++ b/Eigen/src/Core/AssignEvaluator.h
@@ -263,7 +263,7 @@ struct copy_using_evaluator_innervec_CompleteUnrolling {
DstAlignment = Kernel::AssignmentTraits::DstAlignment
};
- EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel) {
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr void run(Kernel& kernel) {
kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
enum { NextIndex = Index + unpacket_traits<PacketType>::size };
copy_using_evaluator_innervec_CompleteUnrolling<Kernel, NextIndex, Stop>::run(kernel);
@@ -431,17 +431,25 @@ struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, NoUnrolling> {
template <typename Kernel>
struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, CompleteUnrolling> {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void run(Kernel& kernel) {
- typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
- typedef typename Kernel::PacketType PacketType;
-
- enum {
- size = DstXprType::SizeAtCompileTime,
- packetSize = unpacket_traits<PacketType>::size,
- alignedSize = (int(size) / packetSize) * packetSize
- };
-
- copy_using_evaluator_linearvec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
- copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
+ if (internal::is_constant_evaluated()) {
+ for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
+ for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
+ kernel.assignCoeffByOuterInner(outer, inner);
+ }
+ }
+ } else {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+ typedef typename Kernel::PacketType PacketType;
+
+ enum {
+ size = DstXprType::SizeAtCompileTime,
+ packetSize = unpacket_traits<PacketType>::size,
+ alignedSize = (int(size) / packetSize) * packetSize
+ };
+
+ copy_using_evaluator_linearvec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
+ copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
+ }
}
};
@@ -465,9 +473,17 @@ struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, NoUnrolling> {
template <typename Kernel>
struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, CompleteUnrolling> {
- EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel) {
- typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
- copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr void run(Kernel& kernel) {
+ if (internal::is_constant_evaluated()) {
+ for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
+ for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
+ kernel.assignCoeffByOuterInner(outer, inner);
+ }
+ }
+ } else {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+ copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+ }
}
};
@@ -498,8 +514,16 @@ struct dense_assignment_loop<Kernel, LinearTraversal, NoUnrolling> {
template <typename Kernel>
struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling> {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void run(Kernel& kernel) {
- typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
- copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+ if (internal::is_constant_evaluated()) {
+ for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
+ for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
+ kernel.assignCoeffByOuterInner(outer, inner);
+ }
+ }
+ } else {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+ copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+ }
}
};
@@ -510,41 +534,49 @@ struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling> {
template <typename Kernel>
struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, NoUnrolling> {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void run(Kernel& kernel) {
- typedef typename Kernel::Scalar Scalar;
- typedef typename Kernel::PacketType PacketType;
- enum {
- packetSize = unpacket_traits<PacketType>::size,
- requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
- alignable =
- packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment) >= sizeof(Scalar),
- dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment) >= int(requestedAlignment),
- dstAlignment = alignable ? int(requestedAlignment) : int(Kernel::AssignmentTraits::DstAlignment)
- };
- const Scalar* dst_ptr = kernel.dstDataPtr();
- if ((!bool(dstIsAligned)) && (std::uintptr_t(dst_ptr) % sizeof(Scalar)) > 0) {
- // the pointer is not aligned-on scalar, so alignment is not possible
- return dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>::run(kernel);
- }
- const Index packetAlignedMask = packetSize - 1;
- const Index innerSize = kernel.innerSize();
- const Index outerSize = kernel.outerSize();
- const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
- Index alignedStart =
- ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
-
- for (Index outer = 0; outer < outerSize; ++outer) {
- const Index alignedEnd = alignedStart + ((innerSize - alignedStart) & ~packetAlignedMask);
- // do the non-vectorizable part of the assignment
- for (Index inner = 0; inner < alignedStart; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
-
- // do the vectorizable part of the assignment
- for (Index inner = alignedStart; inner < alignedEnd; inner += packetSize)
- kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
-
- // do the non-vectorizable part of the assignment
- for (Index inner = alignedEnd; inner < innerSize; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
-
- alignedStart = numext::mini((alignedStart + alignedStep) % packetSize, innerSize);
+ if (internal::is_constant_evaluated()) {
+ for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
+ for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
+ kernel.assignCoeffByOuterInner(outer, inner);
+ }
+ }
+ } else {
+ typedef typename Kernel::Scalar Scalar;
+ typedef typename Kernel::PacketType PacketType;
+ enum {
+ packetSize = unpacket_traits<PacketType>::size,
+ requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
+ alignable =
+ packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment) >= sizeof(Scalar),
+ dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment) >= int(requestedAlignment),
+ dstAlignment = alignable ? int(requestedAlignment) : int(Kernel::AssignmentTraits::DstAlignment)
+ };
+ const Scalar* dst_ptr = kernel.dstDataPtr();
+ if ((!bool(dstIsAligned)) && (std::uintptr_t(dst_ptr) % sizeof(Scalar)) > 0) {
+ // the pointer is not aligned-on scalar, so alignment is not possible
+ return dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>::run(kernel);
+ }
+ const Index packetAlignedMask = packetSize - 1;
+ const Index innerSize = kernel.innerSize();
+ const Index outerSize = kernel.outerSize();
+ const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
+ Index alignedStart =
+ ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
+
+ for (Index outer = 0; outer < outerSize; ++outer) {
+ const Index alignedEnd = alignedStart + ((innerSize - alignedStart) & ~packetAlignedMask);
+ // do the non-vectorizable part of the assignment
+ for (Index inner = 0; inner < alignedStart; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
+
+ // do the vectorizable part of the assignment
+ for (Index inner = alignedStart; inner < alignedEnd; inner += packetSize)
+ kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
+
+ // do the non-vectorizable part of the assignment
+ for (Index inner = alignedEnd; inner < innerSize; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
+
+ alignedStart = numext::mini((alignedStart + alignedStep) % packetSize, innerSize);
+ }
}
}
};
@@ -594,9 +626,9 @@ class generic_dense_assignment_kernel {
typedef copy_using_evaluator_traits<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor> AssignmentTraits;
typedef typename AssignmentTraits::PacketType PacketType;
- EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE generic_dense_assignment_kernel(DstEvaluatorType& dst,
- const SrcEvaluatorType& src,
- const Functor& func, DstXprType& dstExpr)
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE constexpr generic_dense_assignment_kernel(DstEvaluatorType& dst, const SrcEvaluatorType& src,
+ const Functor& func, DstXprType& dstExpr)
: m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr) {
#ifdef EIGEN_DEBUG_ASSIGN
AssignmentTraits::debug();
@@ -614,7 +646,7 @@ class generic_dense_assignment_kernel {
EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const EIGEN_NOEXCEPT { return m_src; }
/// Assign src(row,col) to dst(row,col) through the assignment functor.
- EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col) {
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void assignCoeff(Index row, Index col) {
m_functor.assignCoeff(m_dst.coeffRef(row, col), m_src.coeff(row, col));
}
@@ -624,7 +656,7 @@ class generic_dense_assignment_kernel {
}
/// \sa assignCoeff(Index,Index)
- EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner) {
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void assignCoeffByOuterInner(Index outer, Index inner) {
Index row = rowIndexByOuterInner(outer, inner);
Index col = colIndexByOuterInner(outer, inner);
assignCoeff(row, col);
@@ -648,7 +680,7 @@ class generic_dense_assignment_kernel {
assignPacket<StoreMode, LoadMode, Packet>(row, col);
}
- EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) {
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr Index rowIndexByOuterInner(Index outer, Index inner) {
typedef typename DstEvaluatorType::ExpressionTraits Traits;
return int(Traits::RowsAtCompileTime) == 1 ? 0
: int(Traits::ColsAtCompileTime) == 1 ? inner
@@ -656,7 +688,7 @@ class generic_dense_assignment_kernel {
: inner;
}
- EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) {
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr Index colIndexByOuterInner(Index outer, Index inner) {
typedef typename DstEvaluatorType::ExpressionTraits Traits;
return int(Traits::ColsAtCompileTime) == 1 ? 0
: int(Traits::RowsAtCompileTime) == 1 ? inner
@@ -708,8 +740,8 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize_if_allowed(DstXprType& dst, co
}
template <typename DstXprType, typename SrcXprType, typename T1, typename T2>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize_if_allowed(DstXprType& dst, const SrcXprType& src,
- const internal::assign_op<T1, T2>& /*func*/) {
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void resize_if_allowed(DstXprType& dst, const SrcXprType& src,
+ const internal::assign_op<T1, T2>& /*func*/) {
Index dstRows = src.rows();
Index dstCols = src.cols();
if (((dst.rows() != dstRows) || (dst.cols() != dstCols))) dst.resize(dstRows, dstCols);
@@ -790,7 +822,7 @@ struct Assignment;
// not has to bother about these annoying details.
template <typename Dst, typename Src>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(Dst& dst, const Src& src) {
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void call_assignment(Dst& dst, const Src& src) {
call_assignment(dst, src, internal::assign_op<typename Dst::Scalar, typename Src::Scalar>());
}
template <typename Dst, typename Src>
@@ -807,7 +839,7 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void call_assignment(
}
template <typename Dst, typename Src, typename Func>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void call_assignment(
Dst& dst, const Src& src, const Func& func, std::enable_if_t<!evaluator_assume_aliasing<Src>::value, void*> = 0) {
call_assignment_no_alias(dst, src, func);
}
@@ -891,9 +923,12 @@ EIGEN_DEVICE_FUNC void check_for_aliasing(const Dst& dst, const Src& src);
// both partial specialization+SFINAE without ambiguous specialization
template <typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
struct Assignment<DstXprType, SrcXprType, Functor, Dense2Dense, Weak> {
- EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(DstXprType& dst, const SrcXprType& src, const Functor& func) {
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr void run(DstXprType& dst, const SrcXprType& src,
+ const Functor& func) {
#ifndef EIGEN_NO_DEBUG
- internal::check_for_aliasing(dst, src);
+ if (!internal::is_constant_evaluated()) {
+ internal::check_for_aliasing(dst, src);
+ }
#endif
call_dense_assignment_loop(dst, src, func);
diff --git a/Eigen/src/Core/EigenBase.h b/Eigen/src/Core/EigenBase.h
index 6d167006a094181fa3693b19f6b9daeb6f2afb79..894bfc13b15eb994abd90f100da15de5bd8b22b7 100644
--- a/Eigen/src/Core/EigenBase.h
+++ b/Eigen/src/Core/EigenBase.h
@@ -50,7 +50,7 @@ struct EigenBase {
/** \returns a const reference to the derived object */
EIGEN_DEVICE_FUNC constexpr const Derived& derived() const { return *static_cast<const Derived*>(this); }
- EIGEN_DEVICE_FUNC inline Derived& const_cast_derived() const {
+ EIGEN_DEVICE_FUNC inline constexpr Derived& const_cast_derived() const {
return *static_cast<Derived*>(const_cast<EigenBase*>(this));
}
EIGEN_DEVICE_FUNC inline const Derived& const_derived() const { return *static_cast<const Derived*>(this); }
diff --git a/Eigen/src/Core/functors/AssignmentFunctors.h b/Eigen/src/Core/functors/AssignmentFunctors.h
index 09d1da8ca2bcb41384520f46e2b793ba8b28a798..3687bb20db4dfe1a2f6cf1342b4fcbd8f91f1f68 100644
--- a/Eigen/src/Core/functors/AssignmentFunctors.h
+++ b/Eigen/src/Core/functors/AssignmentFunctors.h
@@ -23,7 +23,7 @@ namespace internal {
*/
template <typename DstScalar, typename SrcScalar>
struct assign_op {
- EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
template <int Alignment, typename Packet>
EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const {

12
wpimath/src/main/native/include/frc/ct_matrix.h
View File

@@ -163,8 +163,8 @@ class ct_matrix {
if (std::is_constant_evaluated()) {
ct_matrix<Scalar, Rows, Cols> result;
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col) {
for (int row = 0; row < rhs.rows(); ++row) {
for (int col = 0; col < rhs.cols(); ++col) {
result(row, col) = lhs(row, col) + rhs(row, col);
}
}
@@ -188,8 +188,8 @@ class ct_matrix {
if (std::is_constant_evaluated()) {
ct_matrix<Scalar, Rows, Cols> result;
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col) {
for (int row = 0; row < rhs.rows(); ++row) {
for (int col = 0; col < rhs.cols(); ++col) {
result(row, col) = lhs(row, col) - rhs(row, col);
}
}
@@ -282,8 +282,8 @@ class ct_matrix {
if (std::is_constant_evaluated()) {
Scalar sum = 0.0;
for (int row = 0; row < Rows; ++row) {
for (int col = 0; col < Cols; ++col) {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
sum += (*this)(row, col) * (*this)(row, col);
}
}

153
wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/AssignEvaluator.h vendored
View File

@@ -263,7 +263,7 @@ struct copy_using_evaluator_innervec_CompleteUnrolling {
DstAlignment = Kernel::AssignmentTraits::DstAlignment
};
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel) {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr void run(Kernel& kernel) {
kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
enum { NextIndex = Index + unpacket_traits<PacketType>::size };
copy_using_evaluator_innervec_CompleteUnrolling<Kernel, NextIndex, Stop>::run(kernel);
@@ -431,17 +431,25 @@ struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, NoUnrolling> {
template <typename Kernel>
struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, CompleteUnrolling> {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void run(Kernel& kernel) {
typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
typedef typename Kernel::PacketType PacketType;
if (internal::is_constant_evaluated()) {
for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
kernel.assignCoeffByOuterInner(outer, inner);
}
}
} else {
typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
typedef typename Kernel::PacketType PacketType;
enum {
size = DstXprType::SizeAtCompileTime,
packetSize = unpacket_traits<PacketType>::size,
alignedSize = (int(size) / packetSize) * packetSize
};
enum {
size = DstXprType::SizeAtCompileTime,
packetSize = unpacket_traits<PacketType>::size,
alignedSize = (int(size) / packetSize) * packetSize
};
copy_using_evaluator_linearvec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
copy_using_evaluator_linearvec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
}
}
};
@@ -465,9 +473,17 @@ struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, NoUnrolling> {
template <typename Kernel>
struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, CompleteUnrolling> {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel) {
typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr void run(Kernel& kernel) {
if (internal::is_constant_evaluated()) {
for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
kernel.assignCoeffByOuterInner(outer, inner);
}
}
} else {
typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
}
}
};
@@ -498,8 +514,16 @@ struct dense_assignment_loop<Kernel, LinearTraversal, NoUnrolling> {
template <typename Kernel>
struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling> {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void run(Kernel& kernel) {
typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
if (internal::is_constant_evaluated()) {
for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
kernel.assignCoeffByOuterInner(outer, inner);
}
}
} else {
typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
}
}
};
@@ -510,41 +534,49 @@ struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling> {
template <typename Kernel>
struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, NoUnrolling> {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void run(Kernel& kernel) {
typedef typename Kernel::Scalar Scalar;
typedef typename Kernel::PacketType PacketType;
enum {
packetSize = unpacket_traits<PacketType>::size,
requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
alignable =
packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment) >= sizeof(Scalar),
dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment) >= int(requestedAlignment),
dstAlignment = alignable ? int(requestedAlignment) : int(Kernel::AssignmentTraits::DstAlignment)
};
const Scalar* dst_ptr = kernel.dstDataPtr();
if ((!bool(dstIsAligned)) && (std::uintptr_t(dst_ptr) % sizeof(Scalar)) > 0) {
// the pointer is not aligned-on scalar, so alignment is not possible
return dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>::run(kernel);
}
const Index packetAlignedMask = packetSize - 1;
const Index innerSize = kernel.innerSize();
const Index outerSize = kernel.outerSize();
const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
Index alignedStart =
((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
if (internal::is_constant_evaluated()) {
for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
kernel.assignCoeffByOuterInner(outer, inner);
}
}
} else {
typedef typename Kernel::Scalar Scalar;
typedef typename Kernel::PacketType PacketType;
enum {
packetSize = unpacket_traits<PacketType>::size,
requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
alignable =
packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment) >= sizeof(Scalar),
dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment) >= int(requestedAlignment),
dstAlignment = alignable ? int(requestedAlignment) : int(Kernel::AssignmentTraits::DstAlignment)
};
const Scalar* dst_ptr = kernel.dstDataPtr();
if ((!bool(dstIsAligned)) && (std::uintptr_t(dst_ptr) % sizeof(Scalar)) > 0) {
// the pointer is not aligned-on scalar, so alignment is not possible
return dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>::run(kernel);
}
const Index packetAlignedMask = packetSize - 1;
const Index innerSize = kernel.innerSize();
const Index outerSize = kernel.outerSize();
const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
Index alignedStart =
((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
for (Index outer = 0; outer < outerSize; ++outer) {
const Index alignedEnd = alignedStart + ((innerSize - alignedStart) & ~packetAlignedMask);
// do the non-vectorizable part of the assignment
for (Index inner = 0; inner < alignedStart; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
for (Index outer = 0; outer < outerSize; ++outer) {
const Index alignedEnd = alignedStart + ((innerSize - alignedStart) & ~packetAlignedMask);
// do the non-vectorizable part of the assignment
for (Index inner = 0; inner < alignedStart; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
// do the vectorizable part of the assignment
for (Index inner = alignedStart; inner < alignedEnd; inner += packetSize)
kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
// do the vectorizable part of the assignment
for (Index inner = alignedStart; inner < alignedEnd; inner += packetSize)
kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
// do the non-vectorizable part of the assignment
for (Index inner = alignedEnd; inner < innerSize; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
// do the non-vectorizable part of the assignment
for (Index inner = alignedEnd; inner < innerSize; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
alignedStart = numext::mini((alignedStart + alignedStep) % packetSize, innerSize);
alignedStart = numext::mini((alignedStart + alignedStep) % packetSize, innerSize);
}
}
}
};
@@ -594,9 +626,9 @@ class generic_dense_assignment_kernel {
typedef copy_using_evaluator_traits<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor> AssignmentTraits;
typedef typename AssignmentTraits::PacketType PacketType;
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE generic_dense_assignment_kernel(DstEvaluatorType& dst,
const SrcEvaluatorType& src,
const Functor& func, DstXprType& dstExpr)
EIGEN_DEVICE_FUNC
EIGEN_STRONG_INLINE constexpr generic_dense_assignment_kernel(DstEvaluatorType& dst, const SrcEvaluatorType& src,
const Functor& func, DstXprType& dstExpr)
: m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr) {
#ifdef EIGEN_DEBUG_ASSIGN
AssignmentTraits::debug();
@@ -614,7 +646,7 @@ class generic_dense_assignment_kernel {
EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const EIGEN_NOEXCEPT { return m_src; }
/// Assign src(row,col) to dst(row,col) through the assignment functor.
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col) {
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void assignCoeff(Index row, Index col) {
m_functor.assignCoeff(m_dst.coeffRef(row, col), m_src.coeff(row, col));
}
@@ -624,7 +656,7 @@ class generic_dense_assignment_kernel {
}
/// \sa assignCoeff(Index,Index)
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner) {
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void assignCoeffByOuterInner(Index outer, Index inner) {
Index row = rowIndexByOuterInner(outer, inner);
Index col = colIndexByOuterInner(outer, inner);
assignCoeff(row, col);
@@ -648,7 +680,7 @@ class generic_dense_assignment_kernel {
assignPacket<StoreMode, LoadMode, Packet>(row, col);
}
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr Index rowIndexByOuterInner(Index outer, Index inner) {
typedef typename DstEvaluatorType::ExpressionTraits Traits;
return int(Traits::RowsAtCompileTime) == 1 ? 0
: int(Traits::ColsAtCompileTime) == 1 ? inner
@@ -656,7 +688,7 @@ class generic_dense_assignment_kernel {
: inner;
}
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr Index colIndexByOuterInner(Index outer, Index inner) {
typedef typename DstEvaluatorType::ExpressionTraits Traits;
return int(Traits::ColsAtCompileTime) == 1 ? 0
: int(Traits::RowsAtCompileTime) == 1 ? inner
@@ -708,8 +740,8 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize_if_allowed(DstXprType& dst, co
}
template <typename DstXprType, typename SrcXprType, typename T1, typename T2>
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize_if_allowed(DstXprType& dst, const SrcXprType& src,
const internal::assign_op<T1, T2>& /*func*/) {
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void resize_if_allowed(DstXprType& dst, const SrcXprType& src,
const internal::assign_op<T1, T2>& /*func*/) {
Index dstRows = src.rows();
Index dstCols = src.cols();
if (((dst.rows() != dstRows) || (dst.cols() != dstCols))) dst.resize(dstRows, dstCols);
@@ -790,7 +822,7 @@ struct Assignment;
// not has to bother about these annoying details.
template <typename Dst, typename Src>
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(Dst& dst, const Src& src) {
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void call_assignment(Dst& dst, const Src& src) {
call_assignment(dst, src, internal::assign_op<typename Dst::Scalar, typename Src::Scalar>());
}
template <typename Dst, typename Src>
@@ -807,7 +839,7 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void call_assignment(
}
template <typename Dst, typename Src, typename Func>
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void call_assignment(
Dst& dst, const Src& src, const Func& func, std::enable_if_t<!evaluator_assume_aliasing<Src>::value, void*> = 0) {
call_assignment_no_alias(dst, src, func);
}
@@ -891,9 +923,12 @@ EIGEN_DEVICE_FUNC void check_for_aliasing(const Dst& dst, const Src& src);
// both partial specialization+SFINAE without ambiguous specialization
template <typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
struct Assignment<DstXprType, SrcXprType, Functor, Dense2Dense, Weak> {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(DstXprType& dst, const SrcXprType& src, const Functor& func) {
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr void run(DstXprType& dst, const SrcXprType& src,
const Functor& func) {
#ifndef EIGEN_NO_DEBUG
internal::check_for_aliasing(dst, src);
if (!internal::is_constant_evaluated()) {
internal::check_for_aliasing(dst, src);
}
#endif
call_dense_assignment_loop(dst, src, func);

2
wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/EigenBase.h vendored
View File

@@ -50,7 +50,7 @@ struct EigenBase {
/** \returns a const reference to the derived object */
EIGEN_DEVICE_FUNC constexpr const Derived& derived() const { return *static_cast<const Derived*>(this); }
EIGEN_DEVICE_FUNC inline Derived& const_cast_derived() const {
EIGEN_DEVICE_FUNC inline constexpr Derived& const_cast_derived() const {
return *static_cast<Derived*>(const_cast<EigenBase*>(this));
}
EIGEN_DEVICE_FUNC inline const Derived& const_derived() const { return *static_cast<const Derived*>(this); }

2
wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/functors/AssignmentFunctors.h vendored
View File

@@ -23,7 +23,7 @@ namespace internal {
*/
template <typename DstScalar, typename SrcScalar>
struct assign_op {
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
template <int Alignment, typename Packet>
EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const {

5
wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
View File

@@ -79,8 +79,13 @@ TEST(Rotation2dTest, Inequality) {
}
TEST(Rotation2dTest, ToMatrix) {
#if __GNUC__ <= 11
Rotation2d before{20_deg};
Rotation2d after{before.ToMatrix()};
#else
constexpr Rotation2d before{20_deg};
constexpr Rotation2d after{before.ToMatrix()};
#endif
EXPECT_EQ(before, after);
}

5
wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp
View File

@@ -308,8 +308,13 @@ TEST(Rotation3dTest, Inequality) {
}
TEST(Rotation3dTest, ToMatrix) {
#if __GNUC__ <= 11
Rotation3d before{10_deg, 20_deg, 30_deg};
Rotation3d after{before.ToMatrix()};
#else
constexpr Rotation3d before{10_deg, 20_deg, 30_deg};
constexpr Rotation3d after{before.ToMatrix()};
#endif
EXPECT_EQ(before, after);
}

39
wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
View File

@@ -12,8 +12,13 @@
#include "units/mass.h"
TEST(LinearSystemIDTest, IdentifyDrivetrainVelocitySystem) {
#if __GNUC__ <= 11
auto model = frc::LinearSystemId::DrivetrainVelocitySystem(
frc::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
#else
constexpr auto model = frc::LinearSystemId::DrivetrainVelocitySystem(
frc::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
#endif
ASSERT_TRUE(model.A().isApprox(
frc::Matrixd<2, 2>{{-10.14132, 3.06598}, {3.06598, -10.14132}}, 0.001));
@@ -37,8 +42,14 @@ TEST(LinearSystemIDTest, ElevatorSystem) {
}
TEST(LinearSystemIDTest, FlywheelSystem) {
#if __GNUC__ <= 11
auto model = frc::LinearSystemId::FlywheelSystem(frc::DCMotor::NEO(2),
0.00032_kg_sq_m, 1.0);
#else
constexpr auto model = frc::LinearSystemId::FlywheelSystem(
frc::DCMotor::NEO(2), 0.00032_kg_sq_m, 1.0);
#endif
ASSERT_TRUE(model.A().isApprox(frc::Matrixd<1, 1>{-26.87032}, 0.001));
ASSERT_TRUE(model.B().isApprox(frc::Matrixd<1, 1>{1354.166667}, 0.001));
ASSERT_TRUE(model.C().isApprox(frc::Matrixd<1, 1>{1.0}, 0.001));
@@ -46,8 +57,14 @@ TEST(LinearSystemIDTest, FlywheelSystem) {
}
TEST(LinearSystemIDTest, DCMotorSystem) {
#if __GNUC__ <= 11
auto model = frc::LinearSystemId::DCMotorSystem(frc::DCMotor::NEO(2),
0.00032_kg_sq_m, 1.0);
#else
constexpr auto model = frc::LinearSystemId::DCMotorSystem(
frc::DCMotor::NEO(2), 0.00032_kg_sq_m, 1.0);
#endif
ASSERT_TRUE(
model.A().isApprox(frc::Matrixd<2, 2>{{0, 1}, {0, -26.87032}}, 0.001));
ASSERT_TRUE(model.B().isApprox(frc::Matrixd<2, 1>{0, 1354.166667}, 0.001));
@@ -59,10 +76,17 @@ TEST(LinearSystemIDTest, DCMotorSystem) {
TEST(LinearSystemIDTest, IdentifyPositionSystem) {
// By controls engineering in frc,
// x-dot = [0 1 | 0 -kv/ka] x = [0 | 1/ka] u
double kv = 1.0;
double ka = 0.5;
constexpr double kv = 1.0;
constexpr double ka = 0.5;
#if __GNUC__ <= 11
auto model = frc::LinearSystemId::IdentifyPositionSystem<units::meter>(
kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
#else
constexpr auto model =
frc::LinearSystemId::IdentifyPositionSystem<units::meter>(
kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
#endif
ASSERT_TRUE(model.A().isApprox(
frc::Matrixd<2, 2>{{0.0, 1.0}, {0.0, -kv / ka}}, 0.001));
@@ -73,10 +97,17 @@ TEST(LinearSystemIDTest, IdentifyVelocitySystem) {
// By controls engineering in frc,
// V = kv * velocity + ka * acceleration
// x-dot = -kv/ka * v + 1/ka \cdot V
double kv = 1.0;
double ka = 0.5;
constexpr double kv = 1.0;
constexpr double ka = 0.5;
#if __GNUC__ <= 11
auto model = frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(
kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
#else
constexpr auto model =
frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(
kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
#endif
ASSERT_TRUE(model.A().isApprox(frc::Matrixd<1, 1>{-kv / ka}, 0.001));
ASSERT_TRUE(model.B().isApprox(frc::Matrixd<1, 1>{1.0 / ka}, 0.001));