Parameterizable.cpp

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
 
#include <mp2p_icp/Parameterizable.h>
#include <mrpt/core/exceptions.h>
 
#include <sstream>
#include <stdexcept>
 
using namespace mp2p_icp;
 
void ParameterSource::attach(Parameterizable& obj)
{
    for (auto& p : obj.declaredParameters())  //
        attachedDeclParameters_.insert(&p);
 
    obj.attachedSource_ = this;
}
 
std::string ParameterSource::printVariableValues() const
{
    std::string s;
    for (const auto& [name, value] : variables_)
    {
        s += name;
        s += "=";
        s += std::to_string(value);
        s += " ";
    }
 
    return s;
}
 
void ParameterSource::realize()
{
    // Here comes the beef:
    // 1) Compile uncompiled expressions,
    // 2) Eval them all and store the results in their target.
 
    // 1) compile?
    for (auto& p : attachedDeclParameters_)
    {
        if (p->is_constant) continue;
        if (p->compiled.has_value()) continue;  // already done:
 
        auto& expr = p->compiled.emplace();
        expr.compile(p->expression, variables_);
    }
 
    // 2) Evaluate and store:
    for (auto& p : attachedDeclParameters_)
    {
        if (p->is_constant) continue;
 
        const double val = p->compiled->eval();
 
        std::visit(
            [val](auto&& arg)
            {
                using T = std::decay_t<decltype(arg)>;
 
                if constexpr (std::is_same_v<T, std::monostate>)
                {
                    throw std::runtime_error(
                        "[ParameterSource] Attached parameter target is "
                        "monostate!");
                }
                else if constexpr (std::is_same_v<T, double*>)
                {
                    *arg = val;
                }
                else if constexpr (std::is_same_v<T, float*>)
                {
                    *arg = static_cast<float>(val);
                }
                else if constexpr (std::is_same_v<T, uint32_t*>)
                {
                    *arg = static_cast<uint32_t>(val);
                }
            },
            p->target);
 
        p->has_been_evaluated = true;
    }
}
 
template <typename T>
void Parameterizable::parseAndDeclareParameter_impl(const std::string& value, T& target)
{
    internal::InfoPerParam& ipm = declParameters_.emplace_back();
 
    ipm.expression = value;
    ipm.target     = &target;
 
    // Try to evaluate the expression now:
    // If it does not contain unknown variables, it will remain
    // constant and will need not updates from "realize()":
    try
    {
        mrpt::expr::CRuntimeCompiledExpression e;
        e.compile(value);
        // Yes, it was successful: mark as constant and store value:
        ipm.is_constant        = true;
        ipm.has_been_evaluated = true;
        // Store result:
        target       = static_cast<T>(e.eval());
        ipm.compiled = std::move(e);
    }
    catch (const std::exception&)
    {
        // We probably need variables, not defined yet.
        // Ignore this exception at this moment. Will trigger if
        // raised again in realize() after defining the variables.
    }
}
 
void Parameterizable::parseAndDeclareParameter(const std::string& value, double& target)
{
    parseAndDeclareParameter_impl(value, target);
}
 
void Parameterizable::parseAndDeclareParameter(const std::string& value, float& target)
{
    parseAndDeclareParameter_impl(value, target);
}
 
void Parameterizable::parseAndDeclareParameter(const std::string& value, uint32_t& target)
{
    parseAndDeclareParameter_impl(value, target);
}
 
void Parameterizable::checkAllParametersAreRealized() const
{
    std::stringstream errors;
    for (auto& p : declParameters_)
    {
        if (p.has_been_evaluated) continue;
        errors << "- '" << p.expression << "'"
               << "\n";
    }
 
    const auto sErrs = errors.str();
    if (sErrs.empty()) return;  // all is ok.
 
    THROW_EXCEPTION_FMT(
        "The following parameter expressions have not been correctly "
        "initialized:\n%s",
        sErrs.c_str());
}
 
void Parameterizable::unrealizeParameters()
{
    for (auto& p : declParameters_)
    {
        if (p.is_constant) continue;
        p.has_been_evaluated = false;
    }
}