void checkDenseVectorAssignment(V1& v1, V2 const& v2){
BOOST_REQUIRE_EQUAL(v1.size(),v2.size());
//indexed access
for(std::size_t i = 0; i != v2.size(); ++i){
v1(i) = 0;
BOOST_CHECK_EQUAL(v1(i),0);
v1(i) = v2(i);
BOOST_CHECK_EQUAL(v1(i),v2(i));
v1(i) = 0;
BOOST_CHECK_EQUAL(v1(i),0);
}
//iterator access rows
typedef typename V1::iterator Iter;
BOOST_REQUIRE_EQUAL(v1.end()-v1.begin(), v1.size());
std::size_t k = 0;
for(Iter it = v1.begin(); it != v1.end(); ++it,++k){
BOOST_CHECK_EQUAL(k,it.index());
*it = 0;
BOOST_CHECK_EQUAL(v1(k),0);
*it = v2(k);
BOOST_CHECK_EQUAL(v1(k),v2(k));
*it = 0;
BOOST_CHECK_EQUAL(v1(k),0);
}
//test that the actual iterated length equals the number of elements
BOOST_CHECK_EQUAL(k, v2.size());
}
static void apply(Alpha a, const V1 &x, const V2 &y, Beta b, V3 &z)
{
if (!math::is_zero(b))
z.array() = a * x.array() * y.array() + b * z.array();
else
z.array() = a * x.array() * y.array();
}
inline void bi::exp_rows(M2 X, const V2& is) {
BOOST_AUTO(iter, is.begin());
BOOST_AUTO(end, is.end());
for (; iter != end; ++iter) {
BOOST_AUTO(row1, row(X, *iter));
exp_elements(row1, row1);
}
}
inline void bi::exp_columns(M2 X, const V2& is) {
BOOST_AUTO(iter, is.begin());
BOOST_AUTO(end, is.end());
for (; iter != end; ++iter) {
BOOST_AUTO(col, column(X, *iter));
exp_elements(col, col);
}
}
bool V2::operator == (V2 const& rhs) const{
if (x() == rhs.x() and y() == rhs.y()) {
return true;
}
else {
return false;
}
}
void bi::det_rows(const M2 X, const V2& is, V3 det) {
BOOST_AUTO(iter, is.begin());
BOOST_AUTO(end, is.end());
set_elements(det, 1.0);
for (; iter != end; ++iter) {
mul_elements(det, column(X, *iter), det);
}
}
V5() {
thunk_OK = this;
if( bar() < 1000 ) {
V2 *p = this;
p->foo( bar() );
V3 *q = this;
q->foo( bar() );
}
}
void
MiscCheckTheParallelEnvironment(const V1& vec1, const V2& vec2)
{
const BaseEnvironment& env = vec1.env();
if (env.numSubEnvironments() == (unsigned int) env.fullComm().NumProc()) {
UQ_FATAL_TEST_MACRO(env.subRank() != 0,
env.worldRank(),
"MiscCheckTheParallelEnvironment<V1,V2>()",
"there should exist only one processor per sub environment");
UQ_FATAL_TEST_MACRO((vec1.numOfProcsForStorage() != 1) ||
(vec2.numOfProcsForStorage() != 1),
env.worldRank(),
"MiscCheckTheParallelEnvironment<V1,V2>()",
"only 1 processor (per sub environment) should be necessary for the storage of a parameter vector");
}
else if (env.numSubEnvironments() < (unsigned int) env.fullComm().NumProc()) {
UQ_FATAL_TEST_MACRO(env.fullComm().NumProc()%env.numSubEnvironments() != 0,
env.worldRank(),
"MiscCheckTheParallelEnvironment<V1,V2>()",
"total number of processors should be a multiple of the number of sub environments");
unsigned int numProcsPerSubEnvironment = env.fullComm().NumProc()/env.numSubEnvironments();
UQ_FATAL_TEST_MACRO(env.subComm().NumProc() != (int) numProcsPerSubEnvironment,
env.worldRank(),
"MiscCheckTheParallelEnvironment<V1,V2>()",
"inconsistent number of processors per sub environment");
if ((vec1.numOfProcsForStorage() == 1) &&
(vec2.numOfProcsForStorage() == 1)) {
// Ok
}
else if ((vec1.numOfProcsForStorage() == numProcsPerSubEnvironment) &&
(vec2.numOfProcsForStorage() == numProcsPerSubEnvironment)) {
UQ_FATAL_TEST_MACRO(true,
env.worldRank(),
"MiscCheckTheParallelEnvironment<V1,V2>()",
"parallel vectors are not supported yet");
}
else {
UQ_FATAL_TEST_MACRO(true,
env.worldRank(),
"MiscCheckTheParallelEnvironment<V1,V2>()",
"number of processors required for a vector storage should be equal to either 1 or to the number of processors in the sub environment");
}
}
else {
UQ_FATAL_TEST_MACRO(true,
env.worldRank(),
"MiscCheckTheParallelEnvironment<V1,V2>()",
"number of processors per sub environment is less than 1!");
}
return;
}
void bi::cross(const M1 X, const M2 Y, const V1 muX, const V2 muY,
M3 SigmaXY) {
/* pre-conditions */
BI_ASSERT(X.size2() == muX.size());
BI_ASSERT(Y.size2() == muY.size());
BI_ASSERT(X.size1() == Y.size1());
BI_ASSERT(SigmaXY.size1() == muX.size() && SigmaXY.size2() == muY.size());
const int N = X.size1();
gemm(1.0/(N - 1.0), X, Y, 0.0, SigmaXY, 'T', 'N');
ger(-N/(N - 1.0), muX, muY, SigmaXY);
}
/**
* Draw model.
* Care about model shift during move.
*/
void
View::drawModel(Cube *model)
{
if (!model->isLost()) {
V2 screenPos = getScreenPos(model);
Anim::eSide side = Anim::SIDE_LEFT;
if (!model->isLeft()) {
side = Anim::SIDE_RIGHT;
}
model->anim()->drawAt(m_screen,
screenPos.getX(), screenPos.getY(), side);
}
}
template <class V1, class V2> double dot_impl(
const V1 &v1, const V2 &v2) {
assert(v1.size() == v2.size());
if(v1.stride() > 0 && v2.stride() > 0){
return ddot(v1.size(),
v1.data(), v1.stride(),
v2.data(), v2.stride());
}else{
double ans = 0;
for(int i = 0; i < v1.size(); ++i){
ans += v1[i] * v2[i];
}
return ans;
}
}
void bi::MetropolisResamplerHost::ancestors(Random& rng, const V1 lws,
V2 as, int B) {
const int P1 = lws.size(); // number of particles
const int P2 = as.size(); // number of ancestors to draw
#pragma omp parallel
{
real alpha, lw1, lw2;
int k, p1, p2, p;
#pragma omp for
for (p = 0; p < P2; ++p) {
p1 = p;
lw1 = lws(p);
for (k = 0; k < B; ++k) {
p2 = rng.uniformInt(0, P1 - 1);
lw2 = lws(p2);
alpha = rng.uniform<real>();
if (bi::log(alpha) < lw2 - lw1) {
/* accept */
p1 = p2;
lw1 = lw2;
}
}
/* write result */
as(p) = p1;
}
}
}
inline void frenet(const V2& d1, V2& t, V2& n){
t = d1;
t.normalize();
// normal according to right-hand rule
n[0] =-t[1];
n[1] = t[0];
}
void bi::mean(const UniformPdf<V1>& q, V2 mu) {
/* pre-condition */
BI_ASSERT(q.size() == mu.size());
axpy(0.5, q.lower(), mu, true);
axpy(0.5, q.upper(), mu);
}
void rot (const T1 &t1, V1 &v1, const T2 &t2, V2 &v2)
{
typedef typename promote_traits<typename V1::value_type, typename V2::value_type>::promote_type promote_type;
vector<promote_type> vt (t1 * v1 + t2 * v2);
v2.assign (- t2 * v1 + t1 * v2);
v1.assign (vt);
}
real bi::det_vector(const V2 x, const V3& is) {
BOOST_AUTO(iter, is.begin());
BOOST_AUTO(end, is.end());
real det = 1.0;
for (; iter != end; ++iter) {
det *= *(x.begin() + *iter);
}
return det;
}
void bi::mean(const M1 X, const V1 w, V2 mu) {
/* pre-conditions */
BI_ASSERT(X.size2() == mu.size());
BI_ASSERT(X.size1() == w.size());
typedef typename V1::value_type T;
T Wt = sum_reduce(w);
gemv(1.0/Wt, X, w, 0.0, mu, 'T');
}
void bi::cov(const M1 X, const V1 w, const V2 mu, M2 Sigma) {
/* pre-conditions */
BI_ASSERT(X.size2() == mu.size());
BI_ASSERT(X.size1() == w.size());
BI_ASSERT(Sigma.size1() == mu.size() && Sigma.size2() == mu.size());
typedef typename V1::value_type T;
typename sim_temp_matrix<M2>::type Y(X.size1(), X.size2());
typename sim_temp_matrix<M2>::type Z(X.size1(), X.size2());
typename sim_temp_vector<V2>::type v(w.size());
T Wt = sum_reduce(w);
Y = X;
sub_rows(Y, mu);
sqrt_elements(w, v);
gdmm(1.0, v, Y, 0.0, Z);
syrk(1.0/Wt, Z, 0.0, Sigma, 'U', 'T');
// alternative weight: 1.0/(Wt - W2t/Wt)
}
void bi::var(const M1 X, const V1 w, const V2 mu, V3 sigma) {
/* pre-conditions */
BI_ASSERT(X.size2() == mu.size());
BI_ASSERT(X.size1() == w.size());
BI_ASSERT(sigma.size() == mu.size());
typedef typename V1::value_type T1;
typename sim_temp_matrix<M1>::type Z(X.size1(), X.size2());
typename sim_temp_matrix<M1>::type Y(X.size1(), X.size2());
typename sim_temp_vector<V2>::type v(w.size());
T1 Wt = sum_reduce(w);
Z = X;
sub_rows(Z, mu);
sqrt_elements(w, v);
gdmm(1.0, v, Z, 0.0, Y);
dot_columns(Y, sigma);
divscal_elements(sigma, Wt, sigma);
// alternative weight: 1.0/(Wt - W2t/Wt)
}
V2 ControllerInput::GetMoveVector()
{
// direction vector
::Ogre::Vector3 move = ::Ogre::Vector3::ZERO;
// get key states
bool isForward = OISKeyboard->isKeyDown(ActiveKeyBinding->MoveForward);
bool isBackwards = OISKeyboard->isKeyDown(ActiveKeyBinding->MoveBackward);
bool isLeft = OISKeyboard->isKeyDown(ActiveKeyBinding->MoveLeft);
bool isRight = OISKeyboard->isKeyDown(ActiveKeyBinding->MoveRight);
bool uiReadsKeys = ControllerUI::ProcessingInput;
// orientation axes of controlled node
Quaternion orient = Avatar->SceneNode->getOrientation();
::Ogre::Vector3 xAxis = orient.xAxis().normalisedCopy();
::Ogre::Vector3 zAxis = orient.zAxis().normalisedCopy();
// apply keystates on direction vector
if ((isForward && !uiReadsKeys) || IsBothMouseDown || isAutoMove)
move += -zAxis;
if (isBackwards && !uiReadsKeys)
move += zAxis;
if (isLeft && !uiReadsKeys)
move += -xAxis;
if (isRight && !uiReadsKeys)
move += xAxis;
// get a V2 variant on ground
V2 direction;
direction.X = move.x;
direction.Y = move.z;
// normalize
direction.Normalize();
return direction;
};
void bi::var(const M1 X, const V1 mu, V2 sigma) {
/* pre-conditions */
BI_ASSERT(X.size2() == mu.size());
BI_ASSERT(sigma.size() == mu.size());
const int N = X.size1();
typename sim_temp_matrix<M1>::type Z(X.size2(), X.size1());
Z = X;
sub_rows(Z, mu);
dot_columns(Z, sigma);
scal(1.0/(N - 1.0), sigma);
}
void bi::cross(const M1 X, const M2 Y, const V1 w, const V2 muX,
const V3 muY, M3 SigmaXY) {
/* pre-conditions */
BI_ASSERT(X.size2() == muX.size());
BI_ASSERT(Y.size2() == muY.size());
BI_ASSERT(X.size1() == Y.size1());
BI_ASSERT(X.size1() == w.size());
BI_ASSERT(Y.size1() == w.size());
BI_ASSERT(SigmaXY.size1() == muX.size() && SigmaXY.size2() == muY.size());
typedef typename V1::value_type T;
typename sim_temp_matrix<M3>::type Z(X.size1(), X.size2());
T Wt = sum_reduce(w);
T Wt2 = std::pow(Wt, 2);
T W2t = sumsq_reduce(w);
gdmm(1.0, w, X, 0.0, Z);
gemm(1.0/Wt, Z, Y, 0.0, SigmaXY, 'T', 'N');
ger(-1.0, muX, muY, SigmaXY);
matrix_scal(1.0/(1.0 - W2t/Wt2), SigmaXY);
}
/**
* Move direct to the destination.
* @param field destination field
* @return whether a move was made
*/
bool
MouseControl::moveHardTo(const V2 &field) const
{
bool moved = false;
const Unit *unit = m_controls->getActive();
if (unit) {
V2 loc = unit->getLoc();
if (field.getX() < loc.getX()) {
moved = m_controls->makeMove(unit->myOrder(Dir::DIR_LEFT));
}
else if (loc.getX() + unit->getW() <= field.getX()) {
moved = m_controls->makeMove(unit->myOrder(Dir::DIR_RIGHT));
}
else if (field.getY() < loc.getY()) {
moved = m_controls->makeMove(unit->myOrder(Dir::DIR_UP));
}
else if (loc.getY() + unit->getH() <= field.getY()) {
moved = m_controls->makeMove(unit->myOrder(Dir::DIR_DOWN));
}
}
return moved;
}
void bi::MultinomialResamplerHost::ancestors(Random& rng, const V1 lws, V2 as,
MultinomialPrecompute<ON_HOST>& pre)
throw (ParticleFilterDegeneratedException) {
typedef typename V1::value_type T1;
const int P = as.size();
const int lwsSize = lws.size();
T1 lW;
/* weights */
if (pre.W > 0) {
lW = bi::log(pre.W);
#pragma omp parallel
{
int Q = P/bi_omp_max_threads;
int start = bi_omp_tid*Q + bi::min(bi_omp_tid, P % bi_omp_max_threads); // min() handles leftovers
if (bi_omp_tid < P % bi_omp_max_threads) {
++Q; // pick up a leftover
}
int i, j = lwsSize;
T1 lMax = 0.0, lu;
for (i = Q; i > 0; --i) {
lMax += bi::log(rng.uniform<T1>())/i;
lu = lW + lMax;
while (j > 0 && lu < bi::log(pre.Ws(j - 1))) {
--j;
}
if (pre.sort) {
as(start + i - 1) = pre.ps(j);
} else {
as(start + i - 1) = j;
}
}
}
} else {
throw ParticleFilterDegeneratedException();
}
/* post-condition */
BI_ASSERT(max_reduce(as) < lws.size());
}
void bi::hist(const V1 x, const V2 w, V3 c, V4 h) {
/* pre-condition */
BI_ASSERT(x.size() == w.size());
BI_ASSERT(c.size() == h.size());
BI_ASSERT(!V3::on_device);
BI_ASSERT(!V4::on_device);
typedef typename V1::value_type T1;
typedef typename V2::value_type T2;
const int P = x.size();
const int B = c.size();
T1 mx, mn;
int i, j;
typename temp_host_vector<T1>::type xSorted(P);
typename temp_host_vector<T2>::type wSorted(P);
xSorted = x;
wSorted = w;
bi::sort_by_key(xSorted, wSorted);
mn = xSorted[0];
mx = xSorted[xSorted.size() - 1];
/* compute bin right edges */
for (j = 0; j < B; ++j) {
c[j] = mn + (j + 1)*(mx - mn)/B;
}
/* compute bin heights */
h.clear();
for (i = 0, j = 0; i < P; ++i) {
if (xSorted[i] >= c[j] && j < B - 1) {
++j;
}
h[j] += wSorted[i];
}
/* compute bin centres */
for (j = B - 1; j > 0; --j) {
c[j] = 0.5*(c[j - 1] + c[j]);
}
c[0] = 0.5*(mn + c[0]);
}
inline void bi::mean(const ExpGaussianPdf<V1,M1>& q, V2 mu) {
/* pre-condition */
BI_ASSERT(mu.size() == q.size());
mu = q.mean();
}
/**
* Returns position of tile under cursor.
*/
V2
View::getFieldPos(const V2 &cursor) const
{
return cursor.minus(m_screenShift).shrink(SCALE);
}
