include SO3 backend implementation

backend/src/Systems/States/Expressions/backends.hpp

@@ -0,0 +1,14 @@
+#pragma once
+
+//******************************************************************************
+// Includes
+//******************************************************************************
+///
+#include "Systems/States/Expressions/backends/Declarations.hpp"
+///
+
+#define ELASTICA_USE_BLAZE 1  // todo : from CMAKE
+
+#if defined(ELASTICA_USE_BLAZE)
+#include "Systems/States/Expressions/backends/blaze.hpp"
+#endif  // ELASTICA_USE_BLAZE

backend/src/Systems/States/Expressions/backends/CMakeLists.txt

@@ -0,0 +1,27 @@
+# Distributed under the MIT License. See LICENSE.txt for details.
+
+set(LIBRARY StateExpressionBackends)
+
+add_elastica_library(${LIBRARY} INTERFACE)
+
+elastica_target_headers(
+        ${LIBRARY}
+        INCLUDE_DIRECTORY ${CMAKE_SOURCE_DIR}/elastica
+        blaze.hpp
+        Declarations.hpp
+)
+
+elastica_target_sources(
+        ${LIBRARY}
+        INTERFACE
+        blaze.hpp
+        Declarations.hpp
+)
+
+add_subdirectory(blaze)
+
+target_link_libraries(
+        ${LIBRARY}
+        INTERFACE
+        SO3PrimitiveAddAssignKernel
+)

backend/src/Systems/States/Expressions/backends/Declarations.hpp

@@ -0,0 +1,27 @@
+#pragma once
+
+//******************************************************************************
+// Includes
+//******************************************************************************
+#include <cstddef> // std::size_t
+
+namespace elastica {
+
+  namespace states {
+
+    // assign version doesnt care about vectorization
+    template <typename LHSMatrix, typename RHSMatrix, typename RHSVector>
+    auto SO3_primitive_assign(LHSMatrix& lhs, RHSMatrix const& rhs_matrix,
+                              RHSVector const& rhs_vector) noexcept -> void;
+    // add assign version doesnt care about vectorization
+    template <typename LHSMatrix, typename RHSVector>
+    auto SO3_primitive_add_assign(LHSMatrix& lhs,
+                                  RHSVector const& rhs_vector) noexcept -> void;
+    template <typename Type>
+    inline auto size_backend(Type const&) noexcept -> std::size_t;
+    template <typename Type>
+    inline auto resize_backend(Type&, std::size_t) -> void;
+
+  }  // namespace states
+
+}  // namespace elastica

backend/src/Systems/States/Expressions/backends/README.md

@@ -0,0 +1,5 @@
+## backends
+
+To interface the requirements of SO3 and SE3 templates with any custom type that the user provides, we need a couple of
+interface functions to connect the frontend (state templates) to the backend data type. This folder contains all such
+interface functions for commonly used elastica types.

backend/src/Systems/States/Expressions/backends/blaze.hpp

@@ -0,0 +1,11 @@
+#pragma once
+
+//******************************************************************************
+// Includes
+//******************************************************************************
+#include "Systems/States/Expressions/backends/Declarations.hpp"
+///
+#include "Systems/States/Expressions/backends/blaze/Resize.hpp"
+#include "Systems/States/Expressions/backends/blaze/SO3PrimitiveAddAssign.hpp"
+#include "Systems/States/Expressions/backends/blaze/SO3PrimitiveAssign.hpp"
+#include "Systems/States/Expressions/backends/blaze/Size.hpp"

backend/src/Systems/States/Expressions/backends/blaze/CMakeLists.txt

@@ -0,0 +1,39 @@
+# Distributed under the MIT License. See LICENSE.txt for details.
+
+set(LIBRARY SO3PrimitiveAddAssignKernel)
+
+add_elastica_library(${LIBRARY} INTERFACE)
+
+elastica_target_headers(
+        ${LIBRARY}
+        INCLUDE_DIRECTORY ${CMAKE_SOURCE_DIR}/elastica
+        SO3PrimitiveAddAssign/BaseTemplate.hpp
+        SO3PrimitiveAddAssign/Scalar.hpp
+        SO3PrimitiveAddAssign/SIMD.hpp
+        Resize.hpp
+        Size.hpp
+        SO3PrimitiveAddAssign.hpp
+        SO3PrimitiveAssign.hpp
+)
+
+elastica_target_sources(
+        ${LIBRARY}
+        INTERFACE
+        SO3PrimitiveAddAssign/BaseTemplate.hpp
+        SO3PrimitiveAddAssign/Scalar.hpp
+        SO3PrimitiveAddAssign/SIMD.hpp
+        Resize.hpp
+        Size.hpp
+        SO3PrimitiveAddAssign.hpp
+        SO3PrimitiveAssign.hpp
+)
+
+
+target_link_libraries(
+        ${LIBRARY}
+        INTERFACE
+        Utilities
+        Blaze
+        Frames
+        ModuleSettings
+)

backend/src/Systems/States/Expressions/backends/blaze/Resize.hpp

@@ -0,0 +1,46 @@
+#pragma once
+
+//******************************************************************************
+// Includes
+//******************************************************************************
+#include <cstdint> // std::size_t
+
+#include <blaze/math/DynamicMatrix.h>
+#include <blaze_tensor/math/DynamicTensor.h>
+
+//
+// this comes from the simulator module, which seems like an anti-pattern
+// should be in Systems instead
+#include "Simulator/Frames.hpp"
+//
+#include "Systems/States/Expressions/backends/Declarations.hpp"
+
+namespace elastica {
+
+  namespace states {
+
+    //**************************************************************************
+    /*! \cond ELASTICA_INTERNAL */
+    // the parts below are repeated from the Block module, but they are almost
+    // always never used in the states module since the size is always expected
+    // to be
+    template <typename T>
+    inline auto resize_backend(blaze::DynamicTensor<T>& data,
+                               std::size_t new_size) -> void {
+      return data.resize(Frames::Dimension, Frames::Dimension, new_size, true);
+    }
+
+    template <typename Type,   // Data type of the matrix
+              bool SO,         // Storage order
+              typename Alloc,  // Type of the allocator
+              typename Tag>    // Type tag
+    inline auto resize_backend(blaze::DynamicMatrix<Type, SO, Alloc, Tag>& data,
+                               std::size_t new_size) -> void {
+      return data.resize(Frames::Dimension, new_size, true);
+    }
+    /*! \endcond */
+    //**************************************************************************
+
+  }  // namespace states
+
+}  // namespace elastica

backend/src/Systems/States/Expressions/backends/blaze/SO3PrimitiveAddAssign.hpp

@@ -0,0 +1,38 @@
+#pragma once
+
+//******************************************************************************
+// Includes
+//******************************************************************************
+#include <blaze_tensor/math/DynamicTensor.h>
+//
+#include "Systems/States/Expressions/backends/Declarations.hpp"
+#include "Systems/States/Expressions/backends/blaze/SO3PrimitiveAddAssign/BaseTemplate.hpp"
+#include "Systems/States/Expressions/backends/blaze/SO3PrimitiveAddAssign/SIMD.hpp"
+#include "Systems/States/Expressions/backends/blaze/SO3PrimitiveAddAssign/Scalar.hpp"
+#include "Systems/States/Expressions/backends/blaze/SO3PrimitiveAssign.hpp"
+#include "Systems/States/Expressions/backends/blaze/Size.hpp"
+
+namespace elastica {
+
+  namespace states {
+
+    template <typename T, typename RHSVectorBatch>
+    auto SO3_primitive_add_assign(blaze::DynamicTensor<T>& lhs_matrix_batch,
+                                  RHSVectorBatch const& rhs_vector) noexcept
+        -> void {
+      /*
+       * This version creates memory every time
+      auto temp_to_synch(lhs_matrix_batch);  // TODO: avoid making new memory
+                                             // (but not sure how)
+      // The rotation computation cannot be computed asynchronously during
+      // add_assign.
+      SO3_primitive_assign(lhs_matrix_batch, temp_to_synch, rhs_vector);
+      */
+
+      detail::SO3AddAssign<detail::backend_choice<detail::SO3AddAssignKind>()>::
+          apply(lhs_matrix_batch, rhs_vector);
+    }
+
+  }  // namespace states
+
+}  // namespace elastica

backend/src/Systems/States/Expressions/backends/blaze/SO3PrimitiveAddAssign/BaseTemplate.hpp

@@ -0,0 +1,32 @@
+#pragma once
+
+#include "Configuration/Kernels.hpp"
+#include "ModuleSettings/Vectorization.hpp"
+
+namespace elastica {
+
+  namespace states {
+
+    namespace detail {
+
+      enum class SO3AddAssignKind { scalar, simd };
+
+      template <SO3AddAssignKind Op>
+      struct SO3AddAssign;
+
+      template <typename BackendEnumKind>
+      constexpr auto backend_choice() -> BackendEnumKind;
+
+      template <>
+      constexpr auto backend_choice<SO3AddAssignKind>() -> SO3AddAssignKind {
+        return ELASTICA_USE_VECTORIZATION
+                   ? SO3AddAssignKind::
+                         ELASTICA_COSSERATROD_LIB_SO3_ADDITION_BACKEND
+                   : SO3AddAssignKind::scalar;
+      }
+
+    }  // namespace detail
+
+  }  // namespace states
+
+}  // namespace elastica