Armadillo 및 boost :: numeric :: odeint를 사용한 템플릿 인스턴스화

Question

boost :: numeric :: odeint와 System 클래스의 구현을 결합하려고합니다 (System.hpp 참조).

A (템플릿) 시스템 개체는 너무처럼 BatchFilter 클래스 메서드 내에서 사용되는 :

# BatchFilter.cpp 
# template <typename state_type> BatchFilter class {...} 

System<state_type> dynamics(this -> args, 
      N_true, 
      this -> true_dynamics_fun); 

     typedef boost::numeric::odeint::runge_kutta_cash_karp54<state_type> error_stepper_type; 
     auto stepper = boost::numeric::odeint::make_controlled<error_stepper_type>(1.0e-13 , 1.0e-16); 

     auto tbegin = T_obs.begin(); 
     auto tend = T_obs.end(); 

     boost::numeric::odeint::integrate_times(stepper, dynamics, X0_true_copy, tbegin, tend,0.1, 
      Observer::push_back_state(this -> true_state_history)); 

BatchFilter 내가 명시 적으로 BatchFilter.cpp의 하단에 인스턴스화하고 템플릿 파생 클래스입니다. 두 명시 적 인스턴스화는

template class BatchFilter<arma::vec>; 
template class BatchFilter< arma::vec::fixed<2> >; 

입니다. 기본 클래스도 명시 적으로 인스턴스화됩니다. odeint 안에 arma::vec을 사용하면 상태가 적절한 크기가 아니기 때문에 런타임 크래시가 발생하므로 arma::vec::fixed<2>을 사용해야합니다.

어떻게 작동하지 않습니까?

arma::vec::fixed<2>의 인스턴스화는 실패하고 arma::vec의 인스턴스는 성공합니다. 컴파일러는 불법 바인딩에 대해 불평 : 나 한테 무슨 퍼즐하는 BatchFilter< arma::vec::fixed<2> >이 실패하면서 BatchFilter<arma::vec>의 명시 적 인스턴스가 성공하면 모든 것이 잘 작동한다는 것입니다

cannot bind non-const lvalue reference of type'arma::Col<double>::fixed<2>&' to an rvalue of type'arma::Col<double>::fixed<2>' sys(x , m_dxdt.m_v ,t); 

.

무슨 일이 벌어지고 있는지에 대한 통찰력이 있으십니까?

참고로

[ 3%] Building CXX object CMakeFiles/ASPEN.dir/source/BatchFilter.cpp.o 
In file included from /usr/local/include/boost/numeric/odeint.hpp:35:0, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/include/Filter.hpp:5, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/include/BatchFilter.hpp:5, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/source/BatchFilter.cpp:1: 
/usr/local/include/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp: In instantiation of 'boost::numeric::odeint::controlled_step_result boost::numeric::odeint::controlled_runge_kutta<ErrorStepper, ErrorChecker, StepAdjuster, Resizer, boost::numeric::odeint::explicit_error_stepper_tag>::try_step_v1(System, StateInOut&, boost::numeric::odeint::controlled_runge_kutta<ErrorStepper, ErrorChecker, StepAdjuster, Resizer, boost::numeric::odeint::explicit_error_stepper_tag>::time_type&, boost::numeric::odeint::controlled_runge_kutta<ErrorStepper, ErrorChecker, StepAdjuster, Resizer, boost::numeric::odeint::explicit_error_stepper_tag>::time_type&) [with System = System<arma::Col<double>::fixed<2>, arma::Mat<double> >; StateInOut = arma::Col<double>; ErrorStepper = boost::numeric::odeint::runge_kutta_cash_karp54<arma::Col<double> >; ErrorChecker = boost::numeric::odeint::default_error_checker<double, boost::numeric::odeint::range_algebra, boost::numeric::odeint::default_operations>; StepAdjuster = boost::numeric::odeint::default_step_adjuster<double, double>; Resizer = boost::numeric::odeint::initially_resizer; boost::numeric::odeint::controlled_runge_kutta<ErrorStepper, ErrorChecker, StepAdjuster, Resizer, boost::numeric::odeint::explicit_error_stepper_tag>::time_type = double]': 
/usr/local/include/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp:283:27: required from 'boost::numeric::odeint::controlled_step_result boost::numeric::odeint::controlled_runge_kutta<ErrorStepper, ErrorChecker, StepAdjuster, Resizer, boost::numeric::odeint::explicit_error_stepper_tag>::try_step(System, StateInOut&, boost::numeric::odeint::controlled_runge_kutta<ErrorStepper, ErrorChecker, StepAdjuster, Resizer, boost::numeric::odeint::explicit_error_stepper_tag>::time_type&, boost::numeric::odeint::controlled_runge_kutta<ErrorStepper, ErrorChecker, StepAdjuster, Resizer, boost::numeric::odeint::explicit_error_stepper_tag>::time_type&) [with System = System<arma::Col<double>::fixed<2>, arma::Mat<double> >; StateInOut = arma::Col<double>; ErrorStepper = boost::numeric::odeint::runge_kutta_cash_karp54<arma::Col<double> >; ErrorChecker = boost::numeric::odeint::default_error_checker<double, boost::numeric::odeint::range_algebra, boost::numeric::odeint::default_operations>; StepAdjuster = boost::numeric::odeint::default_step_adjuster<double, double>; Resizer = boost::numeric::odeint::initially_resizer; boost::numeric::odeint::controlled_runge_kutta<ErrorStepper, ErrorChecker, StepAdjuster, Resizer, boost::numeric::odeint::explicit_error_stepper_tag>::time_type = double]' 
/usr/local/include/boost/numeric/odeint/integrate/detail/integrate_times.hpp:101:81: required from 'size_t boost::numeric::odeint::detail::integrate_times(Stepper, System, State&, TimeIterator, TimeIterator, Time, Observer, boost::numeric::odeint::controlled_stepper_tag) [with Stepper = boost::numeric::odeint::controlled_runge_kutta<boost::numeric::odeint::runge_kutta_cash_karp54<arma::Col<double> >, boost::numeric::odeint::default_error_checker<double, boost::numeric::odeint::range_algebra, boost::numeric::odeint::default_operations>, boost::numeric::odeint::default_step_adjuster<double, double>, boost::numeric::odeint::initially_resizer, boost::numeric::odeint::explicit_error_stepper_tag>; System = System<arma::Col<double>::fixed<2>, arma::Mat<double> >; State = arma::Col<double>; TimeIterator = __gnu_cxx::__normal_iterator<const double*, std::vector<double> >; Time = double; Observer = Observer::push_back_state<arma::Col<double> >; size_t = long unsigned int]' 
/usr/local/include/boost/numeric/odeint/integrate/integrate_times.hpp:129:35: required from 'size_t boost::numeric::odeint::integrate_times(Stepper, System, State&, TimeIterator, TimeIterator, Time, Observer) [with Stepper = boost::numeric::odeint::controlled_runge_kutta<boost::numeric::odeint::runge_kutta_cash_karp54<arma::Col<double> >, boost::numeric::odeint::default_error_checker<double, boost::numeric::odeint::range_algebra, boost::numeric::odeint::default_operations>, boost::numeric::odeint::default_step_adjuster<double, double>, boost::numeric::odeint::initially_resizer, boost::numeric::odeint::explicit_error_stepper_tag>; System = System<arma::Col<double>::fixed<2>, arma::Mat<double> >; State = arma::Col<double>; TimeIterator = __gnu_cxx::__normal_iterator<const double*, std::vector<double> >; Time = double; Observer = Observer::push_back_state<arma::Col<double> >; size_t = long unsigned int]' 
/Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/source/BatchFilter.cpp:231:42: required from void BatchFilter<state_type>::compute_reference_state_history(const std::vector<double>&, std::vector<_RealType>&, std::vector<arma::Mat<double> >&) [with state_type = arma::Col<double>::fixed<2>]' 
/Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/source/BatchFilter.cpp:327:16: required from here 
/usr/local/include/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp:481:12: error: no match for call to '(boost::numeric::odeint::unwrap_reference<System<arma::Col<double>::fixed<2>, arma::Mat<double> > >::type {aka System<arma::Col<double>::fixed<2>, arma::Mat<double> >}) (arma::Col<double>&, arma::Col<double>&, boost::numeric::odeint::controlled_runge_kutta<boost::numeric::odeint::runge_kutta_cash_karp54<arma::Col<double> >, boost::numeric::odeint::default_error_checker<double, boost::numeric::odeint::range_algebra, boost::numeric::odeint::default_operations>, boost::numeric::odeint::default_step_adjuster<double, double>, boost::numeric::odeint::initially_resizer, boost::numeric::odeint::explicit_error_stepper_tag>::time_type&)' 
     sys(x , m_dxdt.m_v ,t); 
     ~~~^~~~~~~~~~~~~~~~~~~~~ 
In file included from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/include/Filter.hpp:6:0, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/include/BatchFilter.hpp:5, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/source/BatchFilter.cpp:1: 
/Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/include/System.hpp:32:7: note: candidate: void System<state_type, jacobian_type>::operator()(const state_type&, state_type&, double) [with state_type = arma::Col<double>::fixed<2>; jacobian_type = arma::Mat<double>] <near match> 
    void operator() (const state_type & x , state_type & dxdt , const double t){ 
     ^~~~~~~~ 
/Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/include/System.hpp:32:7: note: conversion of argument 2 would be ill-formed: 
In file included from /usr/local/include/boost/numeric/odeint.hpp:35:0, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/include/Filter.hpp:5, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/include/BatchFilter.hpp:5, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/source/BatchFilter.cpp:1: 
/usr/local/include/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp:481:25: error: cannot bind non-const lvalue reference of type 'arma::Col<double>::fixed<2>&' to an rvalue of type 'arma::Col<double>::fixed<2>' 
     sys(x , m_dxdt.m_v ,t); 
        ~~~~~~~^~~ 
In file included from /usr/local/include/armadillo:568:0, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/include/BatchFilter.hpp:4, 
       from /Users/bbercovici/GDrive/CUBoulder/Research/code/ASPEN_gui_less/lib/source/BatchFilter.cpp:1: 
/usr/local/include/armadillo_bits/Col_meat.hpp:1145:1: note: after user-defined conversion: arma::Col<eT>::fixed<fixed_n_elem>::fixed(const arma::Base<eT, T1>&) [with T1 = arma::Mat<double>; long long unsigned int fixed_n_elem = 2; eT = double] 
Col<eT>::fixed<fixed_n_elem>::fixed(const Base<eT,T1>& A) 
^~~~~~~ 
make[2]: *** [CMakeFiles/ASPEN.dir/source/BatchFilter.cpp.o] Error 1 
make[1]: *** [CMakeFiles/ASPEN.dir/all] Error 2 
make: *** [all] Error 2 

, System.hpp 아래 여기에 있습니다 :

https://reformatcode.com/code/c/armadillo-conflicts-with-boost-odeint-odeint-resizes-the-state-vector-to-zero-during-integration

이 솔루션은 확장 부스트로 구성

# System.hpp 
template <typename state_type,typename jacobian_type = arma::mat> class System { 
public: 

    System(const Args & args, 
     unsigned int N_est, 
     state_type (*estimate_dynamics_fun)(double, const state_type & , const Args & args) , 
     jacobian_type (*jacobian_estimate_dynamics_fun)(double, const state_type & , const Args & args), 
     unsigned int N_true = 0, 
     state_type (*true_dynamics_fun)(double, const state_type & , const Args & args) = nullptr) 
    : N_est(N_est), N_true(N_true){ 

     this -> estimate_dynamics_fun = estimate_dynamics_fun; 
     this -> true_dynamics_fun = estimate_dynamics_fun; 
     this -> jacobian_estimate_dynamics_fun = jacobian_estimate_dynamics_fun; 
     this -> args = args; 

    } 

    System(const Args & args, 
     unsigned int N_true, 
     state_type (*true_dynamics_fun)(double, const state_type & , const Args & args)) 
    : N_est(0), N_true(N_true){ 
     this -> true_dynamics_fun = true_dynamics_fun; 
     this -> args = args; 
    } 

    void operator() (const state_type & x , state_type & dxdt , const double t){ 


     if (this -> true_dynamics_fun != nullptr){ 

      dxdt.rows(this -> N_est + this -> N_est * this -> N_est, 
       this -> N_est + this -> N_est * this -> N_est + this -> N_true - 1) = this -> true_dynamics_fun(t, 

       x.rows(this -> N_est + this -> N_est * this -> N_est, 
        this -> N_est + this -> N_est * this -> N_est + this -> N_true - 1),args); 


      } 

      if (this -> estimate_dynamics_fun != nullptr){ 

       arma::mat Phi = arma::reshape(x.rows(this -> N_est, 
        this -> N_est + this -> N_est * this -> N_est - 1), this -> N_est, this -> N_est); 

       arma::mat A = this -> jacobian_estimate_dynamics_fun(t,x.rows(0,this -> N_est - 1),this -> args); 

       dxdt.rows(0,this -> N_est - 1) = this -> estimate_dynamics_fun(t,x.rows(0,this -> N_est - 1),this -> args); 
       dxdt.rows(this -> N_est, 
        this -> N_est + this -> N_est * this -> N_est - 1) = arma::vectorise(A * Phi); 

      } 



     } 

    protected: 
     const unsigned int N_est; 
     const unsigned int N_true; 
     state_type (*estimate_dynamics_fun)(double, const state_type & , const Args & args) = nullptr; 
     state_type (*true_dynamics_fun)(double, const state_type & , const Args & args) = nullptr; 
     jacobian_type (*jacobian_estimate_dynamics_fun)(double, const state_type & , const Args & args) = nullptr; 
     Args args; 
    }; 

Answer 1

은 여기 크기 조정 문제 주위에 방법을 발견 : numeric :: odeint와 함께 odeint와 함께 안전하게 사용하기 위해 arma::vec의 자동 크기 조정을 처리하는 어댑터

#include <armadillo> 
namespace boost { namespace numeric { namespace odeint { 

template <> 
struct is_resizeable<arma::vec> 
{ 
    typedef boost::true_type type; 
    const static bool value = type::value; 
}; 

template <> 
struct same_size_impl<arma::vec, arma::vec> 
{ 
    static bool same_size(const arma::vec & x, const arma::vec& y) 
    { 
     return x.n_rows == y.n_rows; 
    } 
}; 

template<> 
struct resize_impl<arma::vec, arma::vec> 
{ 
    static void resize(arma::vec &v1, const arma::vec & v2) 
    { 
     v1.resize(v2.n_rows,1); 
    } 
}; 

} } } // namespace boost::numeric::odeint