variable_block.hpp

// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <concepts>
#include <type_traits>
#include <utility>
 
#include <Eigen/Core>
 
#include "sleipnir/autodiff/sleipnir_base.hpp"
#include "sleipnir/autodiff/slice.hpp"
#include "sleipnir/autodiff/variable.hpp"
#include "sleipnir/util/assert.hpp"
#include "sleipnir/util/empty.hpp"
#include "sleipnir/util/function_ref.hpp"
 
namespace slp {
 
template <typename Mat>
class VariableBlock : public SleipnirBase {
 public:
  using Scalar = typename Mat::Scalar;
 
  VariableBlock(const VariableBlock<Mat>&) = default;
 
  VariableBlock<Mat>& operator=(const VariableBlock<Mat>& values) {
    if (this == &values) {
      return *this;
    }
 
    if (m_mat == nullptr) {
      m_mat = values.m_mat;
      m_row_slice = values.m_row_slice;
      m_row_slice_length = values.m_row_slice_length;
      m_col_slice = values.m_col_slice;
      m_col_slice_length = values.m_col_slice_length;
    } else {
      slp_assert(rows() == values.rows() && cols() == values.cols());
 
      for (int row = 0; row < rows(); ++row) {
        for (int col = 0; col < cols(); ++col) {
          (*this)[row, col] = values[row, col];
        }
      }
    }
 
    return *this;
  }
 
  VariableBlock(VariableBlock<Mat>&&) = default;
 
  VariableBlock<Mat>& operator=(VariableBlock<Mat>&& values) {
    if (this == &values) {
      return *this;
    }
 
    if (m_mat == nullptr) {
      m_mat = values.m_mat;
      m_row_slice = values.m_row_slice;
      m_row_slice_length = values.m_row_slice_length;
      m_col_slice = values.m_col_slice;
      m_col_slice_length = values.m_col_slice_length;
    } else {
      slp_assert(rows() == values.rows() && cols() == values.cols());
 
      for (int row = 0; row < rows(); ++row) {
        for (int col = 0; col < cols(); ++col) {
          (*this)[row, col] = values[row, col];
        }
      }
    }
 
    return *this;
  }
 
  // NOLINTNEXTLINE (google-explicit-constructor)
  VariableBlock(Mat& mat) : VariableBlock{mat, 0, 0, mat.rows(), mat.cols()} {}
 
  VariableBlock(Mat& mat, int row_offset, int col_offset, int block_rows,
                int block_cols)
      : m_mat{&mat},
        m_row_slice{row_offset, row_offset + block_rows, 1},
        m_row_slice_length{m_row_slice.adjust(mat.rows())},
        m_col_slice{col_offset, col_offset + block_cols, 1},
        m_col_slice_length{m_col_slice.adjust(mat.cols())} {}
 
  VariableBlock(Mat& mat, Slice row_slice, int row_slice_length,
                Slice col_slice, int col_slice_length)
      : m_mat{&mat},
        m_row_slice{std::move(row_slice)},
        m_row_slice_length{row_slice_length},
        m_col_slice{std::move(col_slice)},
        m_col_slice_length{col_slice_length} {}
 
  VariableBlock<Mat>& operator=(ScalarLike auto value) {
    slp_assert(rows() == 1 && cols() == 1);
 
    (*this)[0, 0] = value;
 
    return *this;
  }
 
  void set_value(Scalar value) {
    slp_assert(rows() == 1 && cols() == 1);
 
    (*this)[0, 0].set_value(value);
  }
 
  template <typename Derived>
  VariableBlock<Mat>& operator=(const Eigen::MatrixBase<Derived>& values) {
    slp_assert(rows() == values.rows() && cols() == values.cols());
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] = values[row, col];
      }
    }
 
    return *this;
  }
 
  template <typename Derived>
    requires std::same_as<typename Derived::Scalar, Scalar>
  void set_value(const Eigen::MatrixBase<Derived>& values) {
    slp_assert(rows() == values.rows() && cols() == values.cols());
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col].set_value(values[row, col]);
      }
    }
  }
 
  VariableBlock<Mat>& operator=(const Mat& values) {
    slp_assert(rows() == values.rows() && cols() == values.cols());
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] = values[row, col];
      }
    }
    return *this;
  }
 
  VariableBlock<Mat>& operator=(Mat&& values) {
    slp_assert(rows() == values.rows() && cols() == values.cols());
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] = std::move(values[row, col]);
      }
    }
    return *this;
  }
 
  Variable<Scalar>& operator[](int row, int col)
    requires(!std::is_const_v<Mat>)
  {
    slp_assert(row >= 0 && row < rows());
    slp_assert(col >= 0 && col < cols());
    return (*m_mat)[m_row_slice.start + row * m_row_slice.step,
                    m_col_slice.start + col * m_col_slice.step];
  }
 
  const Variable<Scalar>& operator[](int row, int col) const {
    slp_assert(row >= 0 && row < rows());
    slp_assert(col >= 0 && col < cols());
    return (*m_mat)[m_row_slice.start + row * m_row_slice.step,
                    m_col_slice.start + col * m_col_slice.step];
  }
 
  Variable<Scalar>& operator[](int index)
    requires(!std::is_const_v<Mat>)
  {
    slp_assert(index >= 0 && index < rows() * cols());
    return (*this)[index / cols(), index % cols()];
  }
 
  const Variable<Scalar>& operator[](int index) const {
    slp_assert(index >= 0 && index < rows() * cols());
    return (*this)[index / cols(), index % cols()];
  }
 
  VariableBlock<Mat> block(int row_offset, int col_offset, int block_rows,
                           int block_cols) {
    slp_assert(row_offset >= 0 && row_offset <= rows());
    slp_assert(col_offset >= 0 && col_offset <= cols());
    slp_assert(block_rows >= 0 && block_rows <= rows() - row_offset);
    slp_assert(block_cols >= 0 && block_cols <= cols() - col_offset);
    return (*this)[Slice{row_offset, row_offset + block_rows, 1},
                   Slice{col_offset, col_offset + block_cols, 1}];
  }
 
  const VariableBlock<const Mat> block(int row_offset, int col_offset,
                                       int block_rows, int block_cols) const {
    slp_assert(row_offset >= 0 && row_offset <= rows());
    slp_assert(col_offset >= 0 && col_offset <= cols());
    slp_assert(block_rows >= 0 && block_rows <= rows() - row_offset);
    slp_assert(block_cols >= 0 && block_cols <= cols() - col_offset);
    return (*this)[Slice{row_offset, row_offset + block_rows, 1},
                   Slice{col_offset, col_offset + block_cols, 1}];
  }
 
  VariableBlock<Mat> operator[](Slice row_slice, Slice col_slice) {
    int row_slice_length = row_slice.adjust(m_row_slice_length);
    int col_slice_length = col_slice.adjust(m_col_slice_length);
    return (*this)[row_slice, row_slice_length, col_slice, col_slice_length];
  }
 
  const VariableBlock<const Mat> operator[](Slice row_slice,
                                            Slice col_slice) const {
    int row_slice_length = row_slice.adjust(m_row_slice_length);
    int col_slice_length = col_slice.adjust(m_col_slice_length);
    return (*this)[row_slice, row_slice_length, col_slice, col_slice_length];
  }
 
  VariableBlock<Mat> operator[](Slice row_slice, int row_slice_length,
                                Slice col_slice, int col_slice_length) {
    return VariableBlock{
        *m_mat,
        {m_row_slice.start + row_slice.start * m_row_slice.step,
         m_row_slice.start + row_slice.stop * m_row_slice.step,
         row_slice.step * m_row_slice.step},
        row_slice_length,
        {m_col_slice.start + col_slice.start * m_col_slice.step,
         m_col_slice.start + col_slice.stop * m_col_slice.step,
         col_slice.step * m_col_slice.step},
        col_slice_length};
  }
 
  const VariableBlock<const Mat> operator[](Slice row_slice,
                                            int row_slice_length,
                                            Slice col_slice,
                                            int col_slice_length) const {
    return VariableBlock{
        *m_mat,
        {m_row_slice.start + row_slice.start * m_row_slice.step,
         m_row_slice.start + row_slice.stop * m_row_slice.step,
         row_slice.step * m_row_slice.step},
        row_slice_length,
        {m_col_slice.start + col_slice.start * m_col_slice.step,
         m_col_slice.start + col_slice.stop * m_col_slice.step,
         col_slice.step * m_col_slice.step},
        col_slice_length};
  }
 
  VariableBlock<Mat> segment(int offset, int length) {
    slp_assert(cols() == 1);
    slp_assert(offset >= 0 && offset < rows());
    slp_assert(length >= 0 && length <= rows() - offset);
    return block(offset, 0, length, 1);
  }
 
  const VariableBlock<Mat> segment(int offset, int length) const {
    slp_assert(cols() == 1);
    slp_assert(offset >= 0 && offset < rows());
    slp_assert(length >= 0 && length <= rows() - offset);
    return block(offset, 0, length, 1);
  }
 
  VariableBlock<Mat> row(int row) {
    slp_assert(row >= 0 && row < rows());
    return block(row, 0, 1, cols());
  }
 
  VariableBlock<const Mat> row(int row) const {
    slp_assert(row >= 0 && row < rows());
    return block(row, 0, 1, cols());
  }
 
  VariableBlock<Mat> col(int col) {
    slp_assert(col >= 0 && col < cols());
    return block(0, col, rows(), 1);
  }
 
  VariableBlock<const Mat> col(int col) const {
    slp_assert(col >= 0 && col < cols());
    return block(0, col, rows(), 1);
  }
 
  VariableBlock<Mat>& operator*=(const MatrixLike auto& rhs) {
    slp_assert(cols() == rhs.rows() && cols() == rhs.cols());
 
    for (int i = 0; i < rows(); ++i) {
      for (int j = 0; j < rhs.cols(); ++j) {
        Variable sum{Scalar(0)};
        for (int k = 0; k < cols(); ++k) {
          sum += (*this)(i, k) * rhs(k, j);
        }
        (*this)(i, j) = sum;
      }
    }
 
    return *this;
  }
 
  VariableBlock<Mat>& operator*=(const ScalarLike auto& rhs) {
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] *= rhs;
      }
    }
 
    return *this;
  }
 
  VariableBlock<Mat>& operator/=(const MatrixLike auto& rhs) {
    slp_assert(rhs.rows() == 1 && rhs.cols() == 1);
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] /= rhs[0, 0];
      }
    }
 
    return *this;
  }
 
  VariableBlock<Mat>& operator/=(const ScalarLike auto& rhs) {
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] /= rhs;
      }
    }
 
    return *this;
  }
 
  VariableBlock<Mat>& operator+=(const MatrixLike auto& rhs) {
    slp_assert(rows() == rhs.rows() && cols() == rhs.cols());
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] += rhs[row, col];
      }
    }
 
    return *this;
  }
 
  VariableBlock<Mat>& operator+=(const ScalarLike auto& rhs) {
    slp_assert(rows() == 1 && cols() == 1);
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] += rhs;
      }
    }
 
    return *this;
  }
 
  VariableBlock<Mat>& operator-=(const MatrixLike auto& rhs) {
    slp_assert(rows() == rhs.rows() && cols() == rhs.cols());
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] -= rhs[row, col];
      }
    }
 
    return *this;
  }
 
  VariableBlock<Mat>& operator-=(const ScalarLike auto& rhs) {
    slp_assert(rows() == 1 && cols() == 1);
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        (*this)[row, col] -= rhs;
      }
    }
 
    return *this;
  }
 
  // NOLINTNEXTLINE (google-explicit-constructor)
  operator Variable<Scalar>() const {
    slp_assert(rows() == 1 && cols() == 1);
    return (*this)[0, 0];
  }
 
  std::remove_cv_t<Mat> T() const {
    std::remove_cv_t<Mat> result{detail::empty, cols(), rows()};
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        result[col, row] = (*this)[row, col];
      }
    }
 
    return result;
  }
 
  int rows() const { return m_row_slice_length; }
 
  int cols() const { return m_col_slice_length; }
 
  Scalar value(int row, int col) { return (*this)[row, col].value(); }
 
  Scalar value(int index) {
    slp_assert(index >= 0 && index < rows() * cols());
    return value(index / cols(), index % cols());
  }
 
  Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> value() {
    Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> result{rows(),
                                                                 cols()};
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        result[row, col] = value(row, col);
      }
    }
 
    return result;
  }
 
  std::remove_cv_t<Mat> cwise_transform(
      function_ref<Variable<Scalar>(const Variable<Scalar>& x)> unary_op)
      const {
    std::remove_cv_t<Mat> result{detail::empty, rows(), cols()};
 
    for (int row = 0; row < rows(); ++row) {
      for (int col = 0; col < cols(); ++col) {
        result[row, col] = unary_op((*this)[row, col]);
      }
    }
 
    return result;
  }
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
  class iterator {
   public:
    using iterator_category = std::bidirectional_iterator_tag;
    using value_type = Variable<Scalar>;
    using difference_type = std::ptrdiff_t;
    using pointer = Variable<Scalar>*;
    using reference = Variable<Scalar>&;
 
    constexpr iterator() noexcept = default;
 
    constexpr iterator(VariableBlock<Mat>* mat, int index) noexcept
        : m_mat{mat}, m_index{index} {}
 
    constexpr iterator& operator++() noexcept {
      ++m_index;
      return *this;
    }
 
    constexpr iterator operator++(int) noexcept {
      iterator retval = *this;
      ++(*this);
      return retval;
    }
 
    constexpr iterator& operator--() noexcept {
      --m_index;
      return *this;
    }
 
    constexpr iterator operator--(int) noexcept {
      iterator retval = *this;
      --(*this);
      return retval;
    }
 
    constexpr bool operator==(const iterator&) const noexcept = default;
 
    constexpr reference operator*() const noexcept { return (*m_mat)[m_index]; }
 
   private:
    VariableBlock<Mat>* m_mat = nullptr;
    int m_index = 0;
  };
 
  class const_iterator {
   public:
    using iterator_category = std::bidirectional_iterator_tag;
    using value_type = Variable<Scalar>;
    using difference_type = std::ptrdiff_t;
    using pointer = Variable<Scalar>*;
    using const_reference = const Variable<Scalar>&;
 
    constexpr const_iterator() noexcept = default;
 
    constexpr const_iterator(const VariableBlock<Mat>* mat, int index) noexcept
        : m_mat{mat}, m_index{index} {}
 
    constexpr const_iterator& operator++() noexcept {
      ++m_index;
      return *this;
    }
 
    constexpr const_iterator operator++(int) noexcept {
      const_iterator retval = *this;
      ++(*this);
      return retval;
    }
 
    constexpr const_iterator& operator--() noexcept {
      --m_index;
      return *this;
    }
 
    constexpr const_iterator operator--(int) noexcept {
      iterator retval = *this;
      --(*this);
      return retval;
    }
 
    constexpr bool operator==(const const_iterator&) const noexcept = default;
 
    constexpr const_reference operator*() const noexcept {
      return (*m_mat)[m_index];
    }
 
   private:
    const VariableBlock<Mat>* m_mat = nullptr;
    int m_index = 0;
  };
 
  using reverse_iterator = std::reverse_iterator<iterator>;
  using const_reverse_iterator = std::reverse_iterator<const_iterator>;
 
#endif  // DOXYGEN_SHOULD_SKIP_THIS
 
  iterator begin() { return iterator(this, 0); }
 
  iterator end() { return iterator(this, rows() * cols()); }
 
  const_iterator begin() const { return const_iterator(this, 0); }
 
  const_iterator end() const { return const_iterator(this, rows() * cols()); }
 
  const_iterator cbegin() const { return const_iterator(this, 0); }
 
  const_iterator cend() const { return const_iterator(this, rows() * cols()); }
 
  reverse_iterator rbegin() { return reverse_iterator{end()}; }
 
  reverse_iterator rend() { return reverse_iterator{begin()}; }
 
  const_reverse_iterator rbegin() const {
    return const_reverse_iterator{end()};
  }
 
  const_reverse_iterator rend() const {
    return const_reverse_iterator{begin()};
  }
 
  const_reverse_iterator crbegin() const {
    return const_reverse_iterator{cend()};
  }
 
  const_reverse_iterator crend() const {
    return const_reverse_iterator{cbegin()};
  }
 
  size_t size() const { return rows() * cols(); }
 
 private:
  Mat* m_mat = nullptr;
 
  Slice m_row_slice;
  int m_row_slice_length = 0;
 
  Slice m_col_slice;
  int m_col_slice_length = 0;
};
 
}  // namespace slp