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Support any compounded parameters
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4 files changed

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‎docs/API.md‎

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@@ -121,12 +121,11 @@ With `tinyopt`, you can directly optimize several types of parameters `x`, namel
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* `std::vector` of a scalars or another type
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* `Eigen::Vector` of fixed or dynamic size
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* `Eigen::Matrix` of fixed or dynamic size
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* Your custorm class or struct, see below
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* Your custom class or struct, see [User defined parameters](#user-defined-parameters)
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You can also use a one level nesting of types as long as the dimensions of the nested type are known at compile time,
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e.g. `std::array<Vec2f, 2>` or `std::vector<Vec3>`.
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You can also use any levels of nesting for known types, e.g. `std::array<Vec2f, 2>` or `std::pair<std::vector<Vec3>, VecX>`.
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`tinyopt` will detect whether the size is known at compile time and use optimized data structs to make the optimization faster.
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`tinyopt` will detect whether the size is known at compile time and use this information to make the optimization faster.
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Residuals of the following types can also be returned
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‎include/tinyopt/traits.h‎

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@@ -91,7 +91,8 @@ template <typename T, typename = void>
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struct has_cast : std::false_type {};
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template <typename T>
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struct has_cast<T, std::void_t<decltype(std::declval<const T>().template cast<int>())>> : std::true_type {};
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struct has_cast<T, std::void_t<decltype(std::declval<const T>().template cast<int>())>>
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: std::true_type {};
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// Helper variable template for easier usage
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template <typename T>
@@ -246,8 +247,10 @@ struct params_trait<std::vector<_Scalar>> {
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// Cast to a new type, only needed when using automatic differentiation
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template <typename T2>
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static auto cast(const T& v) {
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std::vector<T2> o(v.size());
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for (std::size_t i = 0; i < v.size(); ++i) o[i] = params_trait<Scalar>::template cast<T2>(v[i]);
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using Scalar2 = params_trait<Scalar>::Scalar;
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std::vector<Scalar2> o;
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o.reserve(v.size());
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for (auto& x : v) o.emplace_back(params_trait<Scalar>::template cast<T2>(x));
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return o;
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}
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// Define update / manifold
@@ -291,7 +294,8 @@ struct params_trait<std::array<_Scalar, N>> {
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// Cast to a new type, only needed when using automatic differentiation
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template <typename T2>
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static auto cast(const T& v) {
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std::array<T2, N> o;
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using Scalar2 = params_trait<Scalar>::Scalar;
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std::array<Scalar2, N> o;
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for (std::size_t i = 0; i < N; ++i) o[i] = params_trait<Scalar>::template cast<T2>(v[i]);
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return o;
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}
@@ -327,9 +331,10 @@ struct params_trait<std::pair<T1, T2>> {
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// Cast to a new type, only needed when using automatic differentiation
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template <typename T3>
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static auto cast(const T& v) {
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std::pair<T1, T2> o;
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o.first = params_trait<T1>::template cast<T3>(v.first);
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o.second = params_trait<T2>::template cast<T3>(v.second);
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using Scalar1 = params_trait<T1>::Scalar;
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using Scalar2 = params_trait<T2>::Scalar;
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std::pair<Scalar1, Scalar2> o{params_trait<T1>::template cast<T3>(v.first),
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params_trait<T2>::template cast<T3>(v.second)};
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return o;
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}
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// Define update / manifold

‎tests/CMakeLists.txt‎

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@@ -1,4 +1,7 @@
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add_executable(tinyopt_test_traits traits.cpp)
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target_link_libraries(tinyopt_test_traits PRIVATE ${THIRDPARTY_TEST_LIBS} tinyopt)
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add_test_target(tinyopt_test_traits)
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add_executable(tinyopt_test_diff diff.cpp)
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target_link_libraries(tinyopt_test_diff PRIVATE ${THIRDPARTY_TEST_LIBS} tinyopt)

‎tests/traits.cpp‎

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@@ -0,0 +1,93 @@
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// Copyright (C) 2025 Julien Michot. All Rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#if CATCH2_VERSION == 2
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#include <catch2/catch.hpp>
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#else
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#include <catch2/catch_approx.hpp>
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#include <catch2/catch_test_macros.hpp>
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#endif
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#include <tinyopt/tinyopt.h>
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#include <tinyopt/traits.h>
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using namespace tinyopt;
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using namespace tinyopt::nlls;
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TEST_CASE("tinyopt_params_traits_stl") {
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SECTION("std::array<float, 5>") {
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using Params = std::array<float, 5>;
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Params x;
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REQUIRE(traits::params_trait<Params>::Dims == 5);
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REQUIRE(traits::params_trait<Params>::dims(x) == 5);
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}
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SECTION("std::vector<float>") {
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using Params = std::vector<double>;
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Params x{{0.4, 0.5}};
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REQUIRE(traits::params_trait<Params>::Dims == Dynamic);
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REQUIRE(traits::params_trait<Params>::dims(x) == 2);
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}
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SECTION("std::array<Vec4, 5>") {
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using Params = std::array<Vec4, 5>;
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Params x;
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REQUIRE(traits::params_trait<Params>::Dims == 4 * 5);
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REQUIRE(traits::params_trait<Params>::dims(x) == 4 * 5);
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}
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SECTION("std::array<VecX, 2>") {
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using Params = std::array<VecX, 2>;
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Params x;
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REQUIRE(traits::params_trait<Params>::Dims == Dynamic);
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REQUIRE(traits::params_trait<Params>::dims(x) == 0);
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}
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SECTION("std::vector<Vec2>") {
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using Params = std::vector<Vec2>;
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Params x{{Vec2::Zero(), Vec2::Zero(), Vec2::Zero()}};
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REQUIRE(traits::params_trait<Params>::Dims == Dynamic);
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REQUIRE(traits::params_trait<Params>::dims(x) == 6);
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}
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SECTION("std::pair<Vec2, Vec3>") {
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using Params = std::pair<Vec2, Vec3>;
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Params x;
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REQUIRE(traits::params_trait<Params>::Dims == 2 + 3);
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REQUIRE(traits::params_trait<Params>::dims(x) == 2 + 3);
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}
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SECTION("std::pair<Vec2, VecX>") {
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using Params = std::pair<Vec2, VecX>;
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Params x = std::make_pair(Vec2::Zero(), VecX::Random(4));
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REQUIRE(traits::params_trait<Params>::Dims == Dynamic);
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REQUIRE(traits::params_trait<Params>::dims(x) == 2 + 4);
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}
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SECTION("std::pair<vector<float>, Vec3>") {
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using Params = std::pair<std::vector<float>, Vec3>;
73+
Params x = std::make_pair(std::vector<float>{{1, 2, 3, 4}}, Vec3::Zero());
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REQUIRE(traits::params_trait<Params>::Dims == Dynamic);
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REQUIRE(traits::params_trait<Params>::dims(x) == 4 + 3);
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}
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SECTION("std::pair<std::vector<Vec3>, std::array<VecX, 4>>") {
78+
using Params = std::pair<std::vector<Vec3>, std::array<VecX, 4>>;
79+
std::vector<Vec3> a{Vec3::Zero(), Vec3::Zero()};
80+
std::array<VecX, 4> b{{VecX::Random(5), VecX::Random(2), VecX::Random(0), VecX::Random(0)}};
81+
Params x = std::make_pair(a, b);
82+
REQUIRE(traits::params_trait<Params>::Dims == Dynamic);
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REQUIRE(traits::params_trait<Params>::dims(x) == 6 + 7);
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}
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SECTION("std::pair<std::array<Vec3>, std::array<Vec2, 4>>") {
86+
using Params = std::pair<std::array<Vec3, 5>, std::array<Vec2, 4>>;
87+
std::array<Vec3, 5> a;
88+
std::array<Vec2, 4> b;
89+
Params x = std::make_pair(a, b);
90+
REQUIRE(traits::params_trait<Params>::Dims == 15 + 8);
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REQUIRE(traits::params_trait<Params>::dims(x) == 15 + 8);
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}
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}

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