forked from StudioInfinity/dyna3
refactor: Code formatting (#108)
Primarily, switch to using trailing commas. Also uniformizes commas with respect to switch branches, makes function call layout more consistent, line breaking more consistent, alphabetizes imports, uses the field init shorthand when possible, etc. Resolves #99. Co-authored-by: Aaron Fenyes <aaron.fenyes@fareycircles.ooo> Reviewed-on: StudioInfinity/dyna3#108 Co-authored-by: Vectornaut <vectornaut@nobody@nowhere.net> Co-committed-by: Vectornaut <vectornaut@nobody@nowhere.net>
This commit is contained in:
parent
2eba80fb69
commit
ef1a579ac0
12 changed files with 310 additions and 297 deletions
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@ -16,7 +16,7 @@ pub fn sphere(center_x: f64, center_y: f64, center_z: f64, radius: f64) -> DVect
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center_y / radius,
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center_z / radius,
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0.5 / radius,
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0.5 * (center_norm_sq / radius - radius)
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0.5 * (center_norm_sq / radius - radius),
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])
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}
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@ -30,7 +30,7 @@ pub fn sphere_with_offset(dir_x: f64, dir_y: f64, dir_z: f64, off: f64, curv: f6
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norm_sp * dir_y,
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norm_sp * dir_z,
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0.5 * curv,
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off * (1.0 + 0.5 * off * curv)
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off * (1.0 + 0.5 * off * curv),
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])
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}
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@ -53,7 +53,7 @@ pub fn project_point_to_normalized(rep: &mut DVector<f64>) {
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pub struct MatrixEntry {
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index: (usize, usize),
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value: f64
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value: f64,
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}
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pub struct PartialMatrix(Vec<MatrixEntry>);
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@ -65,7 +65,7 @@ impl PartialMatrix {
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pub fn push(&mut self, row: usize, col: usize, value: f64) {
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let PartialMatrix(entries) = self;
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entries.push(MatrixEntry { index: (row, col), value: value });
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entries.push(MatrixEntry { index: (row, col), value });
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}
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pub fn push_sym(&mut self, row: usize, col: usize, value: f64) {
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@ -135,22 +135,26 @@ impl<'a> IntoIterator for &'a PartialMatrix {
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pub struct ConfigSubspace {
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assembly_dim: usize,
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basis_std: Vec<DMatrix<f64>>,
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basis_proj: Vec<DMatrix<f64>>
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basis_proj: Vec<DMatrix<f64>>,
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}
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impl ConfigSubspace {
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pub fn zero(assembly_dim: usize) -> ConfigSubspace {
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ConfigSubspace {
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assembly_dim: assembly_dim,
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assembly_dim,
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basis_proj: Vec::new(),
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basis_std: Vec::new()
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basis_std: Vec::new(),
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}
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}
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// approximate the kernel of a symmetric endomorphism of the configuration
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// space for `assembly_dim` elements. we consider an eigenvector to be part
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// of the kernel if its eigenvalue is smaller than the constant `THRESHOLD`
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fn symmetric_kernel(a: DMatrix<f64>, proj_to_std: DMatrix<f64>, assembly_dim: usize) -> ConfigSubspace {
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fn symmetric_kernel(
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a: DMatrix<f64>,
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proj_to_std: DMatrix<f64>,
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assembly_dim: usize,
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) -> ConfigSubspace {
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// find a basis for the kernel. the basis is expressed in the projection
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// coordinates, and it's orthonormal with respect to the projection
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// inner product
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@ -170,7 +174,7 @@ impl ConfigSubspace {
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const ELEMENT_DIM: usize = 5;
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const UNIFORM_DIM: usize = 4;
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ConfigSubspace {
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assembly_dim: assembly_dim,
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assembly_dim,
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basis_std: basis_std.column_iter().map(
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|v| Into::<DMatrix<f64>>::into(
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v.reshape_generic(Dyn(ELEMENT_DIM), Dyn(assembly_dim))
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@ -180,7 +184,7 @@ impl ConfigSubspace {
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|v| Into::<DMatrix<f64>>::into(
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v.reshape_generic(Dyn(UNIFORM_DIM), Dyn(assembly_dim))
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)
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).collect()
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).collect(),
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}
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}
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@ -214,9 +218,9 @@ pub struct DescentHistory {
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pub config: Vec<DMatrix<f64>>,
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pub scaled_loss: Vec<f64>,
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pub neg_grad: Vec<DMatrix<f64>>,
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pub hess_eigvals: Vec::<DVector<f64>>,
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pub hess_eigvals: Vec<DVector<f64>>,
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pub base_step: Vec<DMatrix<f64>>,
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pub backoff_steps: Vec<i32>
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pub backoff_steps: Vec<i32>,
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}
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impl DescentHistory {
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@ -246,7 +250,7 @@ impl ConstraintProblem {
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ConstraintProblem {
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gram: PartialMatrix::new(),
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frozen: PartialMatrix::new(),
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guess: DMatrix::<f64>::zeros(ELEMENT_DIM, element_count)
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guess: DMatrix::<f64>::zeros(ELEMENT_DIM, element_count),
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}
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}
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@ -255,7 +259,7 @@ impl ConstraintProblem {
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ConstraintProblem {
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gram: PartialMatrix::new(),
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frozen: PartialMatrix::new(),
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guess: DMatrix::from_columns(guess_columns)
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guess: DMatrix::from_columns(guess_columns),
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}
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}
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}
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@ -269,25 +273,21 @@ lazy_static! {
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0.0, 1.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, -2.0,
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0.0, 0.0, 0.0, -2.0, 0.0
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0.0, 0.0, 0.0, -2.0, 0.0,
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]);
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}
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struct SearchState {
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config: DMatrix<f64>,
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err_proj: DMatrix<f64>,
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loss: f64
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loss: f64,
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}
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impl SearchState {
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fn from_config(gram: &PartialMatrix, config: DMatrix<f64>) -> SearchState {
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let err_proj = gram.sub_proj(&(config.tr_mul(&*Q) * &config));
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let loss = err_proj.norm_squared();
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SearchState {
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config: config,
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err_proj: err_proj,
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loss: loss
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}
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SearchState { config, err_proj, loss }
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}
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}
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@ -314,7 +314,7 @@ pub fn local_unif_to_std(v: DVectorView<f64>) -> DMatrix<f64> {
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curv, 0.0, 0.0, 0.0, v[0],
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0.0, curv, 0.0, 0.0, v[1],
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0.0, 0.0, curv, 0.0, v[2],
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0.0, 0.0, 0.0, 0.0, 1.0
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0.0, 0.0, 0.0, 0.0, 1.0,
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])
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} else {
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// `v` represents a sphere. the normalization condition says that the
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@ -323,7 +323,7 @@ pub fn local_unif_to_std(v: DVectorView<f64>) -> DMatrix<f64> {
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curv, 0.0, 0.0, 0.0, v[0],
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0.0, curv, 0.0, 0.0, v[1],
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0.0, 0.0, curv, 0.0, v[2],
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curv*v[0], curv*v[1], curv*v[2], curv*v[3], curv*v[4] + 1.0
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curv*v[0], curv*v[1], curv*v[2], curv*v[3], curv*v[4] + 1.0,
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])
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}
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}
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@ -336,7 +336,7 @@ fn seek_better_config(
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base_target_improvement: f64,
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min_efficiency: f64,
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backoff: f64,
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max_backoff_steps: i32
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max_backoff_steps: i32,
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) -> Option<(SearchState, i32)> {
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let mut rate = 1.0;
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for backoff_steps in 0..max_backoff_steps {
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@ -354,12 +354,12 @@ fn seek_better_config(
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// a first-order neighborhood of a configuration
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pub struct ConfigNeighborhood {
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pub config: DMatrix<f64>,
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pub nbhd: ConfigSubspace
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pub nbhd: ConfigSubspace,
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}
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pub struct Realization {
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pub result: Result<ConfigNeighborhood, String>,
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pub history: DescentHistory
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pub history: DescentHistory,
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}
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// seek a matrix `config` that matches the partial matrix `problem.frozen` and
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@ -373,12 +373,10 @@ pub fn realize_gram(
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backoff: f64,
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reg_scale: f64,
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max_descent_steps: i32,
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max_backoff_steps: i32
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max_backoff_steps: i32,
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) -> Realization {
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// destructure the problem data
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let ConstraintProblem {
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gram, guess, frozen
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} = problem;
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let ConstraintProblem { gram, guess, frozen } = problem;
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// start the descent history
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let mut history = DescentHistory::new();
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@ -391,10 +389,10 @@ pub fn realize_gram(
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let result = Ok(
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ConfigNeighborhood {
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config: guess.clone(),
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nbhd: ConfigSubspace::zero(0)
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nbhd: ConfigSubspace::zero(0),
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}
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);
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return Realization { result, history }
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return Realization { result, history };
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}
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// find the dimension of the search space
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@ -475,8 +473,8 @@ pub fn realize_gram(
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Some(cholesky) => cholesky,
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None => return Realization {
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result: Err("Cholesky decomposition failed".to_string()),
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history
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}
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history,
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},
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};
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let base_step_stacked = hess_cholesky.solve(&neg_grad_stacked);
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let base_step = base_step_stacked.reshape_generic(Dyn(element_dim), Dyn(assembly_dim));
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@ -485,16 +483,16 @@ pub fn realize_gram(
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// use backtracking line search to find a better configuration
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if let Some((better_state, backoff_steps)) = seek_better_config(
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gram, &state, &base_step, neg_grad.dot(&base_step),
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min_efficiency, backoff, max_backoff_steps
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min_efficiency, backoff, max_backoff_steps,
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) {
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state = better_state;
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history.backoff_steps.push(backoff_steps);
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} else {
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return Realization {
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result: Err("Line search failed".to_string()),
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history
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}
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};
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history,
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};
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}
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}
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let result = if state.loss < tol {
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// express the uniform basis in the standard basis
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@ -539,7 +537,7 @@ pub mod examples {
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[
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sphere(0.0, 0.0, 0.0, 15.0),
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sphere(0.0, 0.0, -9.0, 5.0),
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sphere(0.0, 0.0, 11.0, 3.0)
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sphere(0.0, 0.0, 11.0, 3.0),
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].into_iter().chain(
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(1..=6).map(
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|k| {
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@ -598,7 +596,7 @@ pub mod examples {
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point(0.0, 0.0, 0.0),
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point(ang_hor.cos(), ang_hor.sin(), 0.0),
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point(x_vert, y_vert, -0.5),
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point(x_vert, y_vert, 0.5)
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point(x_vert, y_vert, 0.5),
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]
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}
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).collect::<Vec<_>>().as_slice()
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@ -641,15 +639,15 @@ mod tests {
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MatrixEntry { index: (0, 0), value: 14.0 },
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MatrixEntry { index: (0, 2), value: 28.0 },
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MatrixEntry { index: (1, 1), value: 42.0 },
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MatrixEntry { index: (1, 2), value: 49.0 }
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MatrixEntry { index: (1, 2), value: 49.0 },
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]);
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let config = DMatrix::<f64>::from_row_slice(2, 3, &[
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1.0, 2.0, 3.0,
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4.0, 5.0, 6.0
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4.0, 5.0, 6.0,
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]);
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let expected_result = DMatrix::<f64>::from_row_slice(2, 3, &[
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14.0, 2.0, 28.0,
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4.0, 42.0, 49.0
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4.0, 42.0, 49.0,
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]);
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assert_eq!(frozen.freeze(&config), expected_result);
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}
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@ -660,15 +658,15 @@ mod tests {
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MatrixEntry { index: (0, 0), value: 19.0 },
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MatrixEntry { index: (0, 2), value: 39.0 },
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MatrixEntry { index: (1, 1), value: 59.0 },
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MatrixEntry { index: (1, 2), value: 69.0 }
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MatrixEntry { index: (1, 2), value: 69.0 },
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]);
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let attempt = DMatrix::<f64>::from_row_slice(2, 3, &[
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1.0, 2.0, 3.0,
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4.0, 5.0, 6.0
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4.0, 5.0, 6.0,
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]);
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let expected_result = DMatrix::<f64>::from_row_slice(2, 3, &[
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18.0, 0.0, 36.0,
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0.0, 54.0, 63.0
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0.0, 54.0, 63.0,
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]);
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assert_eq!(target.sub_proj(&attempt), expected_result);
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}
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@ -686,7 +684,7 @@ mod tests {
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DMatrix::from_columns(&[
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sphere(1.0, 0.0, 0.0, a),
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sphere(-0.5, a, 0.0, a),
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sphere(-0.5, -a, 0.0, a)
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sphere(-0.5, -a, 0.0, a),
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])
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};
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let state = SearchState::from_config(&gram, config);
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@ -700,7 +698,7 @@ mod tests {
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fn frozen_entry_test() {
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let mut problem = ConstraintProblem::from_guess(&[
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point(0.0, 0.0, 2.0),
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sphere(0.0, 0.0, 0.0, 0.95)
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sphere(0.0, 0.0, 0.0, 0.95),
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]);
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for j in 0..2 {
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for k in j..2 {
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@ -744,7 +742,7 @@ mod tests {
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let mut problem = ConstraintProblem::from_guess(&[
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sphere(0.0, 0.0, 0.0, -2.0),
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sphere(0.0, 0.0, 1.0, 1.0),
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sphere(0.0, 0.0, -1.0, 1.0)
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sphere(0.0, 0.0, -1.0, 1.0),
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]);
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for j in 0..3 {
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for k in j..3 {
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@ -774,8 +772,8 @@ mod tests {
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DMatrix::<f64>::from_column_slice(UNIFORM_DIM, assembly_dim, &[
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0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, -0.5, -0.5,
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0.0, 0.0, -0.5, 0.5
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])
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0.0, 0.0, -0.5, 0.5,
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]),
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];
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let tangent_motions_std = vec![
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basis_matrix((0, 1), element_dim, assembly_dim),
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@ -785,8 +783,8 @@ mod tests {
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DMatrix::<f64>::from_column_slice(element_dim, assembly_dim, &[
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0.0, 0.0, 0.0, 0.00, 0.0,
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0.0, 0.0, -1.0, -0.25, -1.0,
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0.0, 0.0, -1.0, 0.25, 1.0
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])
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0.0, 0.0, -1.0, 0.25, 1.0,
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]),
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];
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// confirm that the dimension of the tangent space is no greater than
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@ -862,10 +860,10 @@ mod tests {
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DVector::from_column_slice(&[0.0, 0.0, 5.0, 0.0]),
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DVector::from_column_slice(&[0.0, 0.0, 1.0, 0.0]),
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DVector::from_column_slice(&[-vel_vert_x, -vel_vert_y, -3.0, 0.0]),
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DVector::from_column_slice(&[vel_vert_x, vel_vert_y, -3.0, 0.0])
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DVector::from_column_slice(&[vel_vert_x, vel_vert_y, -3.0, 0.0]),
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]
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}
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).collect::<Vec<_>>()
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).collect::<Vec<_>>(),
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];
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let tangent_motions_std = tangent_motions_unif.iter().map(
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|motion| DMatrix::from_columns(
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@ -898,7 +896,7 @@ mod tests {
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0.0, 1.0, 0.0, 0.0, dis[1],
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0.0, 0.0, 1.0, 0.0, dis[2],
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2.0*dis[0], 2.0*dis[1], 2.0*dis[2], 1.0, dis.norm_squared(),
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0.0, 0.0, 0.0, 0.0, 1.0
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0.0, 0.0, 0.0, 0.0, 1.0,
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])
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}
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@ -910,7 +908,7 @@ mod tests {
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const SCALED_TOL: f64 = 1.0e-12;
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let mut problem_orig = ConstraintProblem::from_guess(&[
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sphere(0.0, 0.0, 0.5, 1.0),
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sphere(0.0, 0.0, -0.5, 1.0)
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sphere(0.0, 0.0, -0.5, 1.0),
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]);
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problem_orig.gram.push_sym(0, 0, 1.0);
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problem_orig.gram.push_sym(1, 1, 1.0);
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@ -928,13 +926,13 @@ mod tests {
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let a = 0.5 * FRAC_1_SQRT_2;
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DMatrix::from_columns(&[
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sphere(a, 0.0, 7.0 + a, 1.0),
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sphere(-a, 0.0, 7.0 - a, 1.0)
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sphere(-a, 0.0, 7.0 - a, 1.0),
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])
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};
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let problem_tfm = ConstraintProblem {
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gram: problem_orig.gram,
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frozen: problem_orig.frozen,
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guess: guess_tfm,
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frozen: problem_orig.frozen
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};
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let Realization { result: result_tfm, history: history_tfm } = realize_gram(
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&problem_tfm, SCALED_TOL, 0.5, 0.9, 1.1, 200, 110
|
||||
|
|
@ -962,7 +960,7 @@ mod tests {
|
|||
0.0, 1.0, 0.0, 0.0, 0.0,
|
||||
FRAC_1_SQRT_2, 0.0, FRAC_1_SQRT_2, 0.0, 0.0,
|
||||
0.0, 0.0, 0.0, 1.0, 0.0,
|
||||
0.0, 0.0, 0.0, 0.0, 1.0
|
||||
0.0, 0.0, 0.0, 0.0, 1.0,
|
||||
]);
|
||||
let transl = translation(Vector3::new(0.0, 0.0, 7.0));
|
||||
let motion_proj_tfm = transl * rot * motion_orig_proj;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue