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base repository: mockingbirdnest/Principia
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head repository: mockingbirdnest/Principia
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compare: f8e0d4588b2e
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  • 3 commits
  • 5 files changed
  • 1 contributor

Commits on Nov 20, 2021

  1. Optimize the discrete trajectory code.

    @pleroy
    pleroy committed Nov 20, 2021
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    89376ea View commit details

  2. Leftover 1337.

    @pleroy
    pleroy committed Nov 20, 2021
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    eacc5d3 View commit details

  3. Merge pull request #3207 from pleroy/Optimize 

    Optimize some operations of DiscreteTrajectory and friends
    @pleroy
    pleroy authored Nov 20, 2021
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    f8e0d45 View commit details
6 changes: 3 additions & 3 deletions benchmarks/discrete_trajectory.cpp
View file
Original file line number Diff line number Diff line change
@@ -89,7 +89,7 @@ void BM_DiscreteTrajectoryFront(benchmark::State& state) {
auto const& segment = trajectory.segments().back();

for (auto _ : state) {
segment.front();
benchmark::DoNotOptimize(segment.front());
}
}
void BM_DiscreteTrajectoryBack(benchmark::State& state) {
@@ -102,7 +102,7 @@ void BM_DiscreteTrajectoryBack(benchmark::State& state) {
auto const& segment = trajectory.segments().back();

for (auto _ : state) {
segment.back();
benchmark::DoNotOptimize(segment.back());
}
}

@@ -116,7 +116,7 @@ void BM_DiscreteTrajectoryBegin(benchmark::State& state) {
auto const& segment = trajectory.segments().back();

for (auto _ : state) {
segment.begin();
benchmark::DoNotOptimize(segment.begin());
}
}

17 changes: 7 additions & 10 deletions physics/discrete_trajectory_iterator_body.hpp
View file
Original file line number Diff line number Diff line change
@@ -13,13 +13,14 @@ using astronomy::InfiniteFuture;
using geometry::Instant;

template<typename Frame>
DiscreteTrajectoryIterator<Frame>&
FORCE_INLINE(inline) DiscreteTrajectoryIterator<Frame>&
DiscreteTrajectoryIterator<Frame>::operator++() {
CHECK(!is_at_end(point_));
auto& point = iterator(point_);
Instant const previous_time = point->time;
do {
if (point == std::prev(segment_->timeline_end())) {
++point;
if (point == segment_->timeline_end()) {
do {
++segment_;
} while (!segment_.is_end() && segment_->timeline_empty());
@@ -30,15 +31,13 @@ DiscreteTrajectoryIterator<Frame>::operator++() {
} else {
point = segment_->timeline_begin();
}
} else {
++point;
}
} while (point->time == previous_time);
return *this;
}

template<typename Frame>
DiscreteTrajectoryIterator<Frame>&
FORCE_INLINE(inline) DiscreteTrajectoryIterator<Frame>&
DiscreteTrajectoryIterator<Frame>::operator--() {
bool const point_is_at_end = is_at_end(point_);
if (point_is_at_end) {
@@ -48,16 +47,14 @@ DiscreteTrajectoryIterator<Frame>::operator--() {
// Now proceed with the decrement.
}
auto& point = iterator(point_);
std::optional<Instant> const previous_time =
point_is_at_end ? std::nullopt : std::make_optional(point->time);
Instant const previous_time = point_is_at_end ? InfiniteFuture : point->time;
do {
if (point == segment_->timeline_begin()) {
CHECK(!segment_.is_begin());
--segment_;
point = std::prev(segment_->timeline_end());
} else {
--point;
point = segment_->timeline_end();
}
--point;
} while (point->time == previous_time);
return *this;
}
7 changes: 4 additions & 3 deletions physics/discrete_trajectory_segment_body.hpp
View file
Original file line number Diff line number Diff line change
@@ -46,13 +46,13 @@ void DiscreteTrajectorySegment<Frame>::SetDownsamplingUnconditionally(
template<typename Frame>
typename DiscreteTrajectorySegment<Frame>::reference
DiscreteTrajectorySegment<Frame>::front() const {
return *begin();
return *timeline_.begin();
}

template<typename Frame>
typename DiscreteTrajectorySegment<Frame>::reference
DiscreteTrajectorySegment<Frame>::back() const {
return *rbegin();
return *std::prev(timeline_.end());
}

template<typename Frame>
@@ -68,7 +68,8 @@ DiscreteTrajectorySegment<Frame>::end() const {
return iterator(self_, timeline_.end());
} else {
// The decrement/increment ensures that we normalize the end iterator to the
// next segment or to the end of the trajectory.
// next segment or to the end of the trajectory. This is relatively
// expensive, taking 25-30 ns.
return ++iterator(self_, --timeline_.end());
}
}
23 changes: 13 additions & 10 deletions physics/discrete_trajectory_segment_iterator_body.hpp
View file
Original file line number Diff line number Diff line change
@@ -6,54 +6,57 @@ namespace principia {
namespace physics {
namespace internal_discrete_trajectory_segment_iterator {

// Note the use of DCHECK, not DCHECK_NOTNULL, below, because the latter does
// not go away when compiled in non-debug mode (don't ask).

template<typename Frame>
DiscreteTrajectorySegmentIterator<Frame>&
DiscreteTrajectorySegmentIterator<Frame>::operator++() {
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
++iterator_;
return *this;
}

template<typename Frame>
DiscreteTrajectorySegmentIterator<Frame>&
DiscreteTrajectorySegmentIterator<Frame>::operator--() {
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
--iterator_;
return *this;
}

template<typename Frame>
DiscreteTrajectorySegmentIterator<Frame>
DiscreteTrajectorySegmentIterator<Frame>::operator++(int) { // NOLINT
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
return DiscreteTrajectorySegmentIterator(segments_, iterator_++);
}

template<typename Frame>
DiscreteTrajectorySegmentIterator<Frame>
DiscreteTrajectorySegmentIterator<Frame>::operator--(int) { // NOLINT
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
return DiscreteTrajectorySegmentIterator(segments_, iterator_--);
}

template<typename Frame>
typename DiscreteTrajectorySegmentIterator<Frame>::reference
DiscreteTrajectorySegmentIterator<Frame>::operator*() const {
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
return *iterator_;
}

template<typename Frame>
typename DiscreteTrajectorySegmentIterator<Frame>::pointer
DiscreteTrajectorySegmentIterator<Frame>::operator->() const {
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
return &*iterator_;
}

template<typename Frame>
bool DiscreteTrajectorySegmentIterator<Frame>::operator==(
DiscreteTrajectorySegmentIterator const& other) const {
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
return segments_ == other.segments_ && iterator_ == other.iterator_;
}

@@ -72,20 +75,20 @@ DiscreteTrajectorySegmentIterator<Frame>::DiscreteTrajectorySegmentIterator(

template<typename Frame>
bool DiscreteTrajectorySegmentIterator<Frame>::is_begin() const {
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
return iterator_ == segments_->begin();
}

template<typename Frame>
bool DiscreteTrajectorySegmentIterator<Frame>::is_end() const {
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
return iterator_ == segments_->end();
}

template<typename Frame>
DiscreteTrajectorySegmentRange<DiscreteTrajectorySegmentIterator<Frame>>
DiscreteTrajectorySegmentIterator<Frame>::segments() const {
CHECK_NOTNULL(segments_);
DCHECK(segments_ != nullptr);
return {DiscreteTrajectorySegmentIterator(segments_, segments_->begin()),
DiscreteTrajectorySegmentIterator(segments_, segments_->end())};
}
46 changes: 23 additions & 23 deletions physics/discrete_trajectory_test.cpp
View file
Original file line number Diff line number Diff line change
@@ -59,7 +59,7 @@ using ::testing::Eq;
using ::testing::HasSubstr;
using ::testing::Not;

class DiscreteTraject0ryTest : public ::testing::Test {
class DiscreteTrajectoryTest : public ::testing::Test {
protected:
using World = Frame<serialization::Frame::TestTag,
Inertial,
@@ -126,17 +126,17 @@ class DiscreteTraject0ryTest : public ::testing::Test {
Instant const t0_;
};

TEST_F(DiscreteTraject0ryTest, Make) {
TEST_F(DiscreteTrajectoryTest, Make) {
auto const trajectory = MakeTrajectory();
}

TEST_F(DiscreteTraject0ryTest, BackFront) {
TEST_F(DiscreteTrajectoryTest, BackFront) {
auto const trajectory = MakeTrajectory();
EXPECT_EQ(t0_, trajectory.front().time);
EXPECT_EQ(t0_ + 14 * Second, trajectory.back().time);
}

TEST_F(DiscreteTraject0ryTest, IterateForward) {
TEST_F(DiscreteTrajectoryTest, IterateForward) {
auto const trajectory = MakeTrajectory();
std::vector<Instant> times;
for (auto const& [t, _] : trajectory) {
@@ -160,7 +160,7 @@ TEST_F(DiscreteTraject0ryTest, IterateForward) {
t0_ + 14 * Second));
}

TEST_F(DiscreteTraject0ryTest, IterateBackward) {
TEST_F(DiscreteTrajectoryTest, IterateBackward) {
auto const trajectory = MakeTrajectory();
std::vector<Instant> times;
for (auto it = trajectory.rbegin(); it != trajectory.rend(); ++it) {
@@ -184,21 +184,21 @@ TEST_F(DiscreteTraject0ryTest, IterateBackward) {
t0_));
}

TEST_F(DiscreteTraject0ryTest, Empty) {
TEST_F(DiscreteTrajectoryTest, Empty) {
DiscreteTrajectory<World> trajectory;
EXPECT_TRUE(trajectory.empty());
trajectory = MakeTrajectory();
EXPECT_FALSE(trajectory.empty());
}

TEST_F(DiscreteTraject0ryTest, Size) {
TEST_F(DiscreteTrajectoryTest, Size) {
DiscreteTrajectory<World> trajectory;
EXPECT_EQ(0, trajectory.size());
trajectory = MakeTrajectory();
EXPECT_EQ(15, trajectory.size());
}

TEST_F(DiscreteTraject0ryTest, Find) {
TEST_F(DiscreteTrajectoryTest, Find) {
auto const trajectory = MakeTrajectory();
{
auto const it = trajectory.find(t0_ + 3 * Second);
@@ -224,7 +224,7 @@ TEST_F(DiscreteTraject0ryTest, Find) {
}
}

TEST_F(DiscreteTraject0ryTest, LowerBound) {
TEST_F(DiscreteTrajectoryTest, LowerBound) {
auto const trajectory = MakeTrajectory();
{
auto const it = trajectory.lower_bound(t0_ + 3.9 * Second);
@@ -273,7 +273,7 @@ TEST_F(DiscreteTraject0ryTest, LowerBound) {
}
}

TEST_F(DiscreteTraject0ryTest, UpperBound) {
TEST_F(DiscreteTrajectoryTest, UpperBound) {
auto const trajectory = MakeTrajectory();
{
auto const it = trajectory.upper_bound(t0_ + 3.9 * Second);
@@ -322,7 +322,7 @@ TEST_F(DiscreteTraject0ryTest, UpperBound) {
}
}

TEST_F(DiscreteTraject0ryTest, Segments) {
TEST_F(DiscreteTrajectoryTest, Segments) {
auto const trajectory = MakeTrajectory();
std::vector<Instant> begin;
std::vector<Instant> rbegin;
@@ -338,7 +338,7 @@ TEST_F(DiscreteTraject0ryTest, Segments) {
ElementsAre(t0_ + 4 * Second, t0_ + 9 * Second, t0_ + 14 * Second));
}

TEST_F(DiscreteTraject0ryTest, RSegments) {
TEST_F(DiscreteTrajectoryTest, RSegments) {
auto const trajectory = MakeTrajectory();
std::vector<Instant> begin;
std::vector<Instant> rbegin;
@@ -354,7 +354,7 @@ TEST_F(DiscreteTraject0ryTest, RSegments) {
ElementsAre(t0_ + 14 * Second, t0_ + 9 * Second, t0_ + 4 * Second));
}

TEST_F(DiscreteTraject0ryTest, DetachSegments) {
TEST_F(DiscreteTrajectoryTest, DetachSegments) {
auto trajectory1 = MakeTrajectory();
auto const first_segment = trajectory1.segments().begin();
auto const second_segment = std::next(first_segment);
@@ -406,7 +406,7 @@ TEST_F(DiscreteTraject0ryTest, DetachSegments) {
}
}

TEST_F(DiscreteTraject0ryTest, AttachSegmentsMatching) {
TEST_F(DiscreteTrajectoryTest, AttachSegmentsMatching) {
auto trajectory1 = MakeTrajectory();
auto trajectory2 = MakeTrajectory(
t0_ + 14 * Second,
@@ -453,7 +453,7 @@ TEST_F(DiscreteTraject0ryTest, AttachSegmentsMatching) {
}
}

TEST_F(DiscreteTraject0ryTest, AttachSegmentsMismatching) {
TEST_F(DiscreteTrajectoryTest, AttachSegmentsMismatching) {
auto trajectory1 = MakeTrajectory();
auto trajectory2 = MakeTrajectory(
t0_ + 15 * Second,
@@ -479,7 +479,7 @@ TEST_F(DiscreteTraject0ryTest, AttachSegmentsMismatching) {
5 * Metre}));
}

TEST_F(DiscreteTraject0ryTest, DeleteSegments) {
TEST_F(DiscreteTrajectoryTest, DeleteSegments) {
auto trajectory = MakeTrajectory();
auto const first_segment = trajectory.segments().begin();
auto second_segment = std::next(first_segment);
@@ -490,7 +490,7 @@ TEST_F(DiscreteTraject0ryTest, DeleteSegments) {
EXPECT_TRUE(second_segment == trajectory.segments().end());
}

TEST_F(DiscreteTraject0ryTest, ForgetAfter) {
TEST_F(DiscreteTrajectoryTest, ForgetAfter) {
auto trajectory = MakeTrajectory();

trajectory.ForgetAfter(trajectory.end());
@@ -516,7 +516,7 @@ TEST_F(DiscreteTraject0ryTest, ForgetAfter) {
EXPECT_EQ(1, trajectory.segments().size());
}

TEST_F(DiscreteTraject0ryTest, ForgetBefore) {
TEST_F(DiscreteTrajectoryTest, ForgetBefore) {
auto trajectory = MakeTrajectory();

trajectory.ForgetBefore(t0_ + 3 * Second);
@@ -570,7 +570,7 @@ TEST_F(DiscreteTraject0ryTest, ForgetBefore) {
EXPECT_TRUE(trajectory.empty());
}

TEST_F(DiscreteTraject0ryTest, TMinTMaxEvaluate) {
TEST_F(DiscreteTrajectoryTest, TMinTMaxEvaluate) {
auto const trajectory = MakeTrajectory();
EXPECT_EQ(t0_, trajectory.t_min());
EXPECT_EQ(t0_ + 14 * Second, trajectory.t_max());
@@ -592,7 +592,7 @@ TEST_F(DiscreteTraject0ryTest, TMinTMaxEvaluate) {
0 * Metre / Second}), 0)));
}

TEST_F(DiscreteTraject0ryTest, SerializationRoundTrip) {
TEST_F(DiscreteTrajectoryTest, SerializationRoundTrip) {
auto const trajectory = MakeTrajectory();
auto const trajectory_first_segment = trajectory.segments().begin();
auto const trajectory_second_segment = std::next(trajectory_first_segment);
@@ -641,7 +641,7 @@ TEST_F(DiscreteTraject0ryTest, SerializationRoundTrip) {
EXPECT_THAT(message2, EqualsProto(message1));
}

TEST_F(DiscreteTraject0ryTest, SerializationExactEndpoints) {
TEST_F(DiscreteTrajectoryTest, SerializationExactEndpoints) {
DiscreteTrajectory<World> trajectory;
AngularFrequency const ω = 3 * Radian / Second;
Length const r = 2 * Metre;
@@ -700,7 +700,7 @@ TEST_F(DiscreteTraject0ryTest, SerializationExactEndpoints) {
IsNear(1.5_⑴ * Milli(Metre) / Second)));
}

TEST_F(DiscreteTraject0ryTest, SerializationRange) {
TEST_F(DiscreteTrajectoryTest, SerializationRange) {
auto const trajectory1 = MakeTrajectory();
auto trajectory2 = MakeTrajectory();

@@ -724,7 +724,7 @@ TEST_F(DiscreteTraject0ryTest, SerializationRange) {
EXPECT_THAT(message1, EqualsProto(message2));
}

TEST_F(DiscreteTraject0ryTest, DISABLED_SerializationPreΖήνωνCompatibility) {
TEST_F(DiscreteTrajectoryTest, DISABLED_SerializationPreΖήνωνCompatibility) {
StringLogSink log_warning(google::WARNING);
auto const serialized_message = ReadFromBinaryFile(
R"(P:\Public Mockingbird\Principia\Saves\3136\trajectory_3136.proto.bin)"); // NOLINT