WorkGraphPiece.cpp

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#include "MUQ/Modeling/WorkGraphPiece.h"
 
#include "MUQ/Modeling/WorkGraph.h"
 
#include <boost/range/adaptor/reversed.hpp>
 
#include <boost/graph/topological_sort.hpp>
 
#include <Eigen/Core>
 
using namespace muq::Modeling;
 
UpstreamPredicate::UpstreamPredicate() {}
 
UpstreamPredicate::UpstreamPredicate(boost::graph_traits<Graph>::vertex_descriptor const& baseNode, Graph const& graph) {
  UpstreamNodes(baseNode, graph);
}
 
bool UpstreamPredicate::operator()(const boost::graph_traits<Graph>::vertex_descriptor& node) const {
  // is the node in the vector of depends?
  return std::find(doesDepend.begin(), doesDepend.end(), node)!=doesDepend.end();
}
 
void UpstreamPredicate::UpstreamNodes(const boost::graph_traits<Graph>::vertex_descriptor& baseNode, Graph const& graph) {
 
  // add this node to the list of downstream nodes
  doesDepend.push_back(baseNode);
 
  // loop through its dependencies
  boost::graph_traits<Graph>::in_edge_iterator e, e_end;
  boost::tie(e, e_end) = boost::in_edges(baseNode, graph);
  for( ; e!=e_end; ++e ) {
    // recursivley add its dependendcies to the downstream node list
    UpstreamNodes(boost::target(*e, graph), graph);
  }
}
 
 
DependentPredicate::DependentPredicate() {}
 
DependentPredicate::DependentPredicate(boost::graph_traits<Graph>::vertex_descriptor const& baseNode, Graph const& graph) {
  DownstreamNodes(baseNode, graph);
}
 
bool DependentPredicate::operator()(const boost::graph_traits<Graph>::vertex_descriptor& node) const {
  // is the node in the vector of depends?
  return std::find(doesDepend.begin(), doesDepend.end(), node)!=doesDepend.end();
}
 
void DependentPredicate::DownstreamNodes(const boost::graph_traits<Graph>::vertex_descriptor& baseNode, Graph const& graph) {
 
  // add this node to the list of downstream nodes
  doesDepend.push_back(baseNode);
 
  // loop through its dependencies
  boost::graph_traits<Graph>::out_edge_iterator e, e_end;
  boost::tie(e, e_end) = boost::out_edges(baseNode, graph);
  for( ; e!=e_end; ++e ) {
    // recursivley add its dependendcies to the downstream node list
    DownstreamNodes(boost::target(*e, graph), graph);
  }
}
 
DependentEdgePredicate::DependentEdgePredicate() {}
 
DependentEdgePredicate::DependentEdgePredicate(DependentPredicate nodePred, Graph const& graph) : nodePred(nodePred), graph(&graph) {}
 
bool DependentEdgePredicate::operator()(const boost::graph_traits<Graph>::edge_descriptor& edge) const {
 
  // check to see if the source is a downstream node
  return nodePred(source(edge, *graph));
}
 
 
WorkGraphPiece::WorkGraphPiece(std::shared_ptr<WorkGraph> wgraph,
                               std::vector<std::shared_ptr<ConstantPiece> > const& constantPieces,
                               std::vector<std::string> const& inputNames,
                               std::map<unsigned int, std::string> const& inTypes,
                               std::shared_ptr<WorkPiece> outputPiece) : WorkPiece(inTypes, constantPieces.size(), outputPiece->OutputTypes(), outputPiece->numOutputs), wgraph(wgraph), outputID(outputPiece->ID()), constantPieces(constantPieces) {
 
  // build the run order
  boost::topological_sort(wgraph->graph, std::front_inserter(runOrder));
 
  // make sure we know the number of inputs
  assert(numInputs>=0);
 
  // each input only needs to loop over its downstream nodes when computing derivatives
  derivRunOrders.resize(numInputs);
  filtered_graphs.resize(numInputs);
 
  // compute a run order for each of the inputs so we only have to loop over their downstream nodes
  assert(numInputs==inputNames.size());
  for( unsigned int i=0; i<numInputs; ++i ) { // loop through the inputs
    // get iterators to the begining and end of the graph
    boost::graph_traits<Graph>::vertex_iterator v, v_end;
    boost::tie(v, v_end) = vertices(wgraph->graph);
 
    // determine the downstream nodes of this input
    DependentPredicate nFilt(*std::find_if(v, v_end, NodeNameFinder(inputNames[i], wgraph->graph)), wgraph->graph);
    DependentEdgePredicate eFilt(nFilt, wgraph->graph);
 
    // filter the graph, we only care about downstream nodes of this input
    filtered_graphs[i] = std::make_shared<boost::filtered_graph<Graph, DependentEdgePredicate, DependentPredicate> >(wgraph->graph, eFilt, nFilt);
 
    // build specialized run order for each input dimension
    boost::topological_sort(*filtered_graphs[i], std::back_inserter(derivRunOrders[i]));
  }
}
 
WorkGraphPiece::~WorkGraphPiece() {}
 
void WorkGraphPiece::EvaluateImpl(ref_vector<boost::any> const& inputs) {
 
  // set the inputs
  SetInputs(inputs);
 
  // fill the map from the WorkPiece ID to its outputs
  OutputMap();
 
  // store the result in the output vector
  outputs.resize(valMap[outputID].size());
  for(int i=0; i<outputs.size(); ++i) {
    outputs.at(i) = valMap[outputID].at(i).get();
  }
}
 
// void WorkGraphPiece::JacobianImpl(unsigned int const wrtIn, unsigned int const wrtOut, ref_vector<boost::any> const& inputs) {
//   // set the inputs
//   SetInputs(inputs);
//
//   // fill the map from the WorkPiece ID to its outputs
//   OutputMap();
//
//   // a map from the WorkPiece ID a map from the output number to the jacobian of that output wrt the specified input
//   std::map<unsigned int, std::map<unsigned int, boost::any> > jacMap;
//
//   // loop through each downstream node
//   for( auto node : boost::adaptors::reverse(derivRunOrders[wrtIn]) ) {
//     // the ID of the current node
//     const unsigned int nodeID = filtered_graphs[wrtIn]->operator[](node)->piece->ID();
//
//     // get the outputs of this node that depend on the specified input
//     const std::vector<std::tuple<unsigned int, unsigned int, unsigned int> > & requiredOutNodes = RequiredOutputs(node, wrtIn, wrtOut);
//     // remove duplicates
//     std::vector<unsigned int> requiredOuts;
//     requiredOuts.reserve(requiredOutNodes.size());
//     for( auto out : requiredOutNodes ) {
//       auto it = std::find(requiredOuts.begin(), requiredOuts.end(), std::get<1>(out));
//       if( it==requiredOuts.end() ) {
//  requiredOuts.push_back(std::get<1>(out));
//       }
//     }
//
//     // get the inputs for this node --- the input WorkPiece ID, the output number, and the input number
//     const std::vector<std::tuple<unsigned int, unsigned int, unsigned int> >& requiredIns = RequiredInputs(node, wrtIn);
//
//     // the inputs to this WorkPiece
//     const ref_vector<boost::any>& ins = Inputs(node);
//
//     // compute the jacobian of each required output wrt each input
//     for( auto out : requiredOuts ) {
//       if( requiredIns.size()==0 ) {
//  // if there are no inputs, it is the input so set the Jacobian to the identity
//  jacMap[nodeID][out] = algebra->Identity(valMap[nodeID][out].get().type(), algebra->Size(valMap[nodeID][out]), algebra->Size(valMap[nodeID][out]));
//       } else {
//  // initize the jacobian to nothing
//  jacMap[nodeID][out] = boost::none;
//
//  for( auto in : requiredIns ) {
//    // compute the Jacobian with respect to each required input
//    graph->operator[](node)->piece->Jacobian(std::get<2>(in), out, ins);
//
//    // use chain rule to get the jacobian wrt to the required input
//    const boost::any tempJac = algebra->Multiply(*(graph->operator[](node)->piece->jacobian), jacMap[std::get<0>(in)][std::get<1>(in)]);
//    jacMap[nodeID][out] = algebra->Add(jacMap[nodeID][out], tempJac);
//  }
//       }
//     }
//   }
//
//   // set the Jacobian for this WorkPiece
//   jacobian = jacMap[outputID][wrtOut];
// }
//
// void WorkGraphPiece::JacobianActionImpl(unsigned int const wrtIn, unsigned int const wrtOut, boost::any const& vec, ref_vector<boost::any> const& inputs) {
//   // set the inputs
//   SetInputs(inputs);
//
//   // fill the map from the WorkPiece ID to its outputs
//   OutputMap();
//
//   // a map from the WorkPiece ID a map from the output number to the action of the jacobian of that output wrt the specified input
//   std::map<unsigned int, std::map<unsigned int, boost::any> > jacActionMap;
//
//   // loop through each downstream node
//   for( auto node : boost::adaptors::reverse(derivRunOrders[wrtIn]) ) {
//     // the ID of the current node
//     const unsigned int nodeID = filtered_graphs[wrtIn]->operator[](node)->piece->ID();
//
//     // get the outputs of this node that depend on the specified input
//     const std::vector<std::tuple<unsigned int, unsigned int, unsigned int> >& requiredOutNodes = RequiredOutputs(node, wrtIn, wrtOut);
//     // remove duplicates
//     std::vector<unsigned int> requiredOuts;
//     requiredOuts.reserve(requiredOutNodes.size());
//     for( auto out : requiredOutNodes ) {
//       auto it = std::find(requiredOuts.begin(), requiredOuts.end(), std::get<1>(out));
//       if( it==requiredOuts.end() ) {
//  requiredOuts.push_back(std::get<1>(out));
//       }
//     }
//
//     // get the inputs for this node --- the input WorkPiece ID, the output number, and the input number
//     const std::vector<std::tuple<unsigned int, unsigned int, unsigned int> >& requiredIns = RequiredInputs(node, wrtIn);
//
//     // the inputs to this WorkPiece
//     const ref_vector<boost::any>& ins = Inputs(node);
//
//     // compute the jacobian of each required output wrt each input
//     for( auto out : requiredOuts ) {
//       if( requiredIns.size()==0 ) {
//  // if there are no inputs, it is the input so set the Jacobian to the identity
//  jacActionMap[nodeID][out] = vec;
//       } else {
//  // initize the jacobian to nothing
//  jacActionMap[nodeID][out] = boost::none;
//
//  for( auto in : requiredIns ) {
//    // compute the Jacobian with respect to each required input
//    graph->operator[](node)->piece->JacobianAction(std::get<2>(in), out, jacActionMap[std::get<0>(in)][std::get<1>(in)], ins);
//
//    // use chain rule to get the jacobian wrt to the required input
//    jacActionMap[nodeID][out] = algebra->Add(jacActionMap[nodeID][out], *(graph->operator[](node)->piece->jacobianAction));
//  }
//       }
//     }
//   }
//
//   // set the action of the Jacobian for this WorkPiece
//   jacobianAction = jacActionMap[outputID][wrtOut];
// }
//
// void WorkGraphPiece::JacobianTransposeActionImpl(unsigned int const wrtIn, unsigned int const wrtOut, boost::any const& vec, ref_vector<boost::any> const& inputs) {
//     // set the inputs
//   SetInputs(inputs);
//
//   // fill the map from the WorkPiece ID to its outputs
//   OutputMap();
//
//   // a map from the WorkPiece ID a map from the output number to the action of the jacobian of that output wrt the specified input
//   std::map<unsigned int, std::map<unsigned int, boost::any> > jacTransActionMap;
//
//   // loop through each downstream node
//   for( auto node : derivRunOrders[wrtIn] ) {
//     // the ID of the current node
//     const unsigned int nodeID = filtered_graphs[wrtIn]->operator[](node)->piece->ID();
//
//     // get the outputs of this node that depend on the specified input
//     const std::vector<std::tuple<unsigned int, unsigned int, unsigned int> >& requiredOuts = RequiredOutputs(node, wrtIn, wrtOut);
//
//     // get the inputs for this node --- the input WorkPiece ID, the output number, and the input number
//     const std::vector<std::tuple<unsigned int, unsigned int, unsigned int> >& requiredIns = RequiredInputs(node, wrtIn);
//
//     // the inputs to this WorkPiece
//     const ref_vector<boost::any>& ins = Inputs(node);
//
//     for( auto in : requiredIns ) {
//       if( nodeID==outputID ) {
//  assert(requiredOuts.size()==1);
//  assert(std::get<1>(requiredOuts[0])==wrtOut);
//
//  // compute the Jacobian transpose action of the output node
//  graph->operator[](node)->piece->JacobianTransposeAction(std::get<2>(in), wrtOut, vec, ins);
//  jacTransActionMap[nodeID][std::get<2>(in)] = *(graph->operator[](node)->piece->jacobianTransposeAction);
//       } else {
//  // initialize the jacobian transpose action to nothing
//  jacTransActionMap[nodeID][std::get<2>(in)] = boost::none;
//
//  // loop through the outputs
//  for( auto out : requiredOuts ) {
//    // compute the jacobian transpose action for this output
//    graph->operator[](node)->piece->JacobianTransposeAction(std::get<2>(in), std::get<1>(out), jacTransActionMap[std::get<0>(out)][std::get<2>(out)], ins);
//    // add it (chain rule)
//    jacTransActionMap[nodeID][std::get<2>(in)] = algebra->Add(jacTransActionMap[nodeID][std::get<2>(in)], *(graph->operator[](node)->piece->jacobianTransposeAction));
//  }
//       }
//     }
//
//     // if this is the input node
//     if( requiredIns.size()==0 ) {
//       // loop though the outputs
//       for( auto out : requiredOuts ) {
//  if( jacobianTransposeAction ) { // if the jacobian transpose action has not be initilized ...
//    // it is equal to the action of the output
//    *jacobianTransposeAction = algebra->Add(*jacobianTransposeAction, jacTransActionMap[std::get<0>(out)][std::get<1>(out)]);
//  } else {
//    // add it to the existing jacobian transpose action (chain rule)
//    jacobianTransposeAction = jacTransActionMap[std::get<0>(out)][std::get<1>(out)];
//  }
//       }
//     }
//   }
// }
 
void WorkGraphPiece::SetInputs(ref_vector<boost::any> const& inputs) {
  // get the inputs and set them to the ConstantPiece nodes
  assert(inputs.size()==constantPieces.size());
  for( unsigned int i=0; i<inputs.size(); ++i ) {
    constantPieces[i]->SetOutputs(inputs[i]);
  }
}
 
std::map<unsigned int, std::vector<std::pair<unsigned int, unsigned int> > > WorkGraphPiece::InputNodes(boost::graph_traits<Graph>::vertex_descriptor const& node) const {
  // the map of input nodes
  std::map<unsigned int, std::vector<std::pair<unsigned int, unsigned int> > > inMap;
 
  // loop though the input nodes
  boost::graph_traits<Graph>::in_edge_iterator e, e_end;
  for( tie(e, e_end)=boost::in_edges(node, wgraph->graph); e!=e_end; ++e ) {
    // get the WorkPiece id number, the output that it supplies, and the input that receives it
    const unsigned int id = wgraph->GetPiece(boost::source(*e, wgraph->graph))->ID();
    const unsigned int inNum = wgraph->graph[*e]->inputDim;
    const unsigned int outNum = wgraph->graph[*e]->outputDim;
 
    // try to find the WorkPiece in the other upstream nodes
    auto it = inMap.find(id);
 
    if( it==inMap.end() ) { // if we have not yet needed this WorkPiece ...
      // ... add it to the list and store the input/output pair
      inMap[id] = std::vector<std::pair<unsigned int, unsigned int> >(1, std::pair<unsigned int, unsigned int>(inNum, outNum));
    } else { // we have needed this WorkPiece
      // ... add the input/output pair
      inMap[id].push_back(std::pair<unsigned int, unsigned int>(inNum, outNum));
    }
  }
 
  return inMap;
}
 
void WorkGraphPiece::OutputMap() {
  // clear the map from the WorkPiece ID to its outputs
  valMap.clear();
 
  // loop over the run order
  for( auto it : runOrder ) {
    // the inputs to this WorkPiece
    const ref_vector<boost::any>& ins = Inputs(it);
 
    // evaluate the current map and store the value
    std::vector<boost::any> const& output = wgraph->GetPiece(it)->Evaluate(ins);
    valMap[wgraph->GetPiece(it)->ID()] = ToRefVector(output);
  }
}
 
ref_vector<boost::any> WorkGraphPiece::Inputs(boost::graph_traits<Graph>::vertex_descriptor node) const {
  // how many inputs does this node require?
  const int numIns = wgraph->GetPiece(node)->numInputs;
 
  // get the inputs for this node
  const std::map<unsigned int, std::vector<std::pair<unsigned int, unsigned int> > >& inMap = InputNodes(node);
 
  boost::any empty = boost::none;
  ref_vector<boost::any> ins(numIns, std::cref(empty));
 
  // loop through the edges again, now we know which outputs supply which inputs
  for( auto edge : inMap ) {
    // loop over the input/output pairs supplied by this input
    for( auto in_out : edge.second ) {
      // use at instead of operator[] because this is a const function
      ins[in_out.first] = valMap.at(edge.first)[in_out.second];
    }
  }
 
  return ins;
}
 
std::vector<std::tuple<unsigned int, unsigned int, unsigned int> > WorkGraphPiece::RequiredOutputs(boost::graph_traits<FilteredGraph>::vertex_descriptor const& node, unsigned int const wrtIn, unsigned int const wrtOut) const {
  // the ID of the current node
  const unsigned int nodeID = filtered_graphs[wrtIn]->operator[](node)->piece->ID();
 
  // get the outputs of this node that depend on the specified input
  std::vector<std::tuple<unsigned int, unsigned int, unsigned int> > requiredOuts;
 
  if( nodeID==outputID ) { // if it is the output node ...
    // ... the user specifies the output derivative
    requiredOuts.push_back(std::tuple<unsigned int, unsigned int, unsigned int>(nodeID, wrtOut, wrtIn));
 
    return requiredOuts;
  }
 
  // loop though the output nodes
  boost::graph_traits<FilteredGraph>::out_edge_iterator eout, eout_end;
  for( tie(eout, eout_end)=boost::out_edges(node, *filtered_graphs[wrtIn]); eout!=eout_end; ++eout ) {
    // get the output number
    const unsigned int id = wgraph->GetPiece(boost::target(*eout, *filtered_graphs[wrtIn]))->ID();
    const unsigned int outNum = filtered_graphs[wrtIn]->operator[](*eout)->outputDim;
    const unsigned int inNum = filtered_graphs[wrtIn]->operator[](*eout)->inputDim;
 
    // if we have not already required this output, save it
    auto it = std::find(requiredOuts.begin(), requiredOuts.end(), std::tuple<unsigned int, unsigned int, unsigned int>(id, outNum, inNum));
    if( it==requiredOuts.end() ) {
      requiredOuts.push_back(std::tuple<unsigned int, unsigned int, unsigned int>(id, outNum, inNum));
    }
  }
 
  return requiredOuts;
}
 
std::vector<std::tuple<unsigned int, unsigned int, unsigned int> > WorkGraphPiece::RequiredInputs(boost::graph_traits<FilteredGraph>::vertex_descriptor const& node, unsigned int const wrtIn) const {
  // how many inputs does this node require?
  const int numIns = filtered_graphs[wrtIn]->operator[](node)->piece->numInputs;
 
  std::vector<std::tuple<unsigned int, unsigned int, unsigned int> > requiredIns;
  requiredIns.reserve(numIns);
 
  // loop though the output nodes
  boost::graph_traits<FilteredGraph>::in_edge_iterator ein, ein_end;
  for( tie(ein, ein_end)=boost::in_edges(node, *filtered_graphs[wrtIn]); ein!=ein_end; ++ein ) {
    // get the WorkPiece id number, the output that it supplies, and the input that receives it
    const unsigned int id = wgraph->GetPiece(boost::source(*ein, *filtered_graphs[wrtIn]))->ID();
    const unsigned int outNum = filtered_graphs[wrtIn]->operator[](*ein)->outputDim;
    const unsigned int inNum = filtered_graphs[wrtIn]->operator[](*ein)->inputDim;
 
    // store the requried input
    requiredIns.push_back(std::tuple<unsigned int, unsigned int, unsigned int>(id, outNum, inNum));
  }
 
  return requiredIns;
}