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move factor operational types to entities
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-80
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3 files changed

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‎src/ParametricUtils.jl‎

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@@ -144,18 +144,7 @@ end
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## Parametric solve with Mahalanobis distance - CalcFactor
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## ================================================================================================
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"""
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$TYPEDEF
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Internal parametric extension to [`CalcFactor`](@ref) used for buffering measurement and calculating Mahalanobis distance
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"""
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struct CalcFactorMahalanobis{CF<:CalcFactor, S, N}
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calcfactor!::CF
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varOrder::Vector{Symbol}
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meas::NTuple{N, <:AbstractVector{Float64}}
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iΣ::NTuple{N, Matrix{Float64}}
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specialAlg::S
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end
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getFactorMechanics(f::AbstractFactor) = f
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getFactorMechanics(f::Mixture) = f.mechanics

‎src/entities/FactorOperationalMemory.jl‎

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@@ -24,11 +24,11 @@ end
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```
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DevNotes
27-
- See IIF Project to consolidate CCW, CF, FMD, CPT
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- Follow the Github project in IIF to better consolidate CCW FMD CPT CF CFM
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Related
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[`CommonConvWrapper`](@ref), [`FactorMetadata`](@ref), [`ConvPerThread`](@ref)
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[`CalcFactorMahalanobis`](@ref), [`CommonConvWrapper`](@ref), [`FactorMetadata`](@ref), [`ConvPerThread`](@ref)
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"""
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struct CalcFactor{T <: AbstractFactor, M, P <: Union{<:Tuple,Nothing}, X <: AbstractVector}
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# the interface compliant user object functor containing the data and logic
@@ -46,6 +46,23 @@ struct CalcFactor{T <: AbstractFactor, M, P <: Union{<:Tuple,Nothing}, X <: Abst
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end
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"""
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$TYPEDEF
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Internal parametric extension to [`CalcFactor`](@ref) used for buffering measurement and calculating Mahalanobis distance
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Related
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[`CalcFactor`](@ref)
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"""
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struct CalcFactorMahalanobis{CF<:CalcFactor, S, N}
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calcfactor!::CF
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varOrder::Vector{Symbol}
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meas::NTuple{N, <:AbstractVector{Float64}}
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iΣ::NTuple{N, Matrix{Float64}}
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specialAlg::S
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end
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abstract type _AbstractThreadModel end
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@@ -70,7 +87,7 @@ Notes
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DevNotes
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- TODO why not just a NamedTuple? Perhaps part of #467
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- TODO better consolidate with CCW, CPT, CalcFactor
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- Follow the Github project in IIF to better consolidate CCW FMD CPT CF CFM
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- TODO standardize -- #927, #1025, #784, #692, #640
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- TODO make immutable #825
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"""
@@ -121,30 +138,25 @@ mutable struct ConvPerThread{R,F<:FactorMetadata,P}
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end
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function ConvPerThread( X::AbstractVector{P},
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zDim::Int,
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factormetadata::FactorMetadata;
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particleidx::Int=1,
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activehypo= 1:length(params),
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p::AbstractVector{<:Integer}=collect(1:1),
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perturb=zeros(zDim),
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res=zeros(zDim),
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thrid_ = 0 ) where P
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#
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return ConvPerThread{typeof(res), typeof(factormetadata), Any}( thrid_,
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particleidx,
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factormetadata,
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Int[activehypo;],
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Int[p...;],
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perturb,
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X,
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res )
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end
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145141

146142
"""
147143
$(TYPEDEF)
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Main factor memory container used during inference operations.
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Notes
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- CCW does not get serialized / persisted
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- At writing, the assumption is there is just one CCW per factor
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- Any multithreaded design needs to happens as sub-constainers inside CCW or otherwise, to carry separate memory.
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- Since #467, `CalcFactor` is the only type 'seen by user' during `getSample` or function residual calculations `(cf::CalcFactor{<:MyFactor})`, s.t. `MyFactor <: AbstractRelative___`
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- There also exists a `CalcFactorMahalanobis` for parameteric computations using as much of the same mechanics as possible.
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DevNotes
155+
- Follow the Github project in IIF to better consolidate CCW FMD CPT CF CFM
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157+
Related
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[`CalcFactor`](@ref), [`CalcFactorMahalanobis`](@ref), [`FactorMetadata`](@ref), [`ConvPerThread`](@ref)
148160
"""
149161
mutable struct CommonConvWrapper{ T<:FunctorInferenceType,
150162
H<:Union{Nothing, Distributions.Categorical},
@@ -186,50 +198,5 @@ mutable struct CommonConvWrapper{ T<:FunctorInferenceType,
186198
end
187199

188200

189-
function CommonConvWrapper( fnc::T,
190-
X::AbstractVector{P},
191-
zDim::Int,
192-
params::AbstractVector{<:AbstractVector{Q}},
193-
factormetadata::FactorMetadata;
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specialzDim::Bool=false,
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partial::Bool=false,
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hypotheses::H=nothing,
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certainhypo=nothing,
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activehypo= 1:length(params),
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nullhypo::Real=0,
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varidx::Int=1,
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measurement::Tuple=(Vector{Vector{Float64}}(),), # FIXME should not be a Matrix
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particleidx::Int=1,
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xDim::Int=size(X,1),
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partialDims::AbstractVector{<:Integer}=collect(1:size(X,1)), # TODO make this SVector, and name partialDims
205-
perturb=zeros(zDim),
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res::AbstractVector{<:Real}=zeros(zDim),
207-
threadmodel::Type{<:_AbstractThreadModel}=MultiThreaded,
208-
inflation::Real=3.0,
209-
vartypes=typeof.(getVariableType.(factormetadata.fullvariables)),
210-
gradients=nothing) where {T<:FunctorInferenceType,P,H,Q}
211-
#
212-
return CommonConvWrapper(fnc,
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xDim,
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zDim,
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specialzDim,
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partial,
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hypotheses,
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certainhypo,
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Float64(nullhypo),
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params,
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varidx,
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measurement,
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threadmodel,
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(i->ConvPerThread(X, zDim,factormetadata, particleidx=particleidx,
225-
activehypo=activehypo, p=partialDims,
226-
perturb=perturb, res=res )).(1:Threads.nthreads()),
227-
inflation,
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partialDims, # SVector(Int32.()...)
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DataType[vartypes...],
230-
gradients)
231-
end
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#

‎src/services/CalcFactor.jl‎

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Original file line numberDiff line numberDiff line change
@@ -110,4 +110,74 @@ end
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function ConvPerThread( X::AbstractVector{P},
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zDim::Int,
116+
factormetadata::FactorMetadata;
117+
particleidx::Int=1,
118+
activehypo= 1:length(params),
119+
p::AbstractVector{<:Integer}=collect(1:1),
120+
perturb=zeros(zDim),
121+
res=zeros(zDim),
122+
thrid_ = 0 ) where P
123+
#
124+
return ConvPerThread{typeof(res), typeof(factormetadata), Any}( thrid_,
125+
particleidx,
126+
factormetadata,
127+
Int[activehypo;],
128+
Int[p...;],
129+
perturb,
130+
X,
131+
res )
132+
end
133+
134+
135+
136+
function CommonConvWrapper( fnc::T,
137+
X::AbstractVector{P},
138+
zDim::Int,
139+
params::AbstractVector{<:AbstractVector{Q}},
140+
factormetadata::FactorMetadata;
141+
specialzDim::Bool=false,
142+
partial::Bool=false,
143+
hypotheses::H=nothing,
144+
certainhypo=nothing,
145+
activehypo= 1:length(params),
146+
nullhypo::Real=0,
147+
varidx::Int=1,
148+
measurement::Tuple=(Vector{Vector{Float64}}(),), # FIXME should not be a Matrix
149+
particleidx::Int=1,
150+
xDim::Int=size(X,1),
151+
partialDims::AbstractVector{<:Integer}=collect(1:size(X,1)), # TODO make this SVector, and name partialDims
152+
perturb=zeros(zDim),
153+
res::AbstractVector{<:Real}=zeros(zDim),
154+
threadmodel::Type{<:_AbstractThreadModel}=MultiThreaded,
155+
inflation::Real=3.0,
156+
vartypes=typeof.(getVariableType.(factormetadata.fullvariables)),
157+
gradients=nothing) where {T<:FunctorInferenceType,P,H,Q}
158+
#
159+
return CommonConvWrapper(fnc,
160+
xDim,
161+
zDim,
162+
specialzDim,
163+
partial,
164+
hypotheses,
165+
certainhypo,
166+
Float64(nullhypo),
167+
params,
168+
varidx,
169+
measurement,
170+
threadmodel,
171+
(i->ConvPerThread(X, zDim,factormetadata, particleidx=particleidx,
172+
activehypo=activehypo, p=partialDims,
173+
perturb=perturb, res=res )).(1:Threads.nthreads()),
174+
inflation,
175+
partialDims, # SVector(Int32.()...)
176+
DataType[vartypes...],
177+
gradients)
178+
end
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#

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