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Fix extra allocations in get_gradient!'s jacobian #300

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Fix extra allocations in get_gradient!'s jacobian #300

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4e7658e
Fix extra allocations in get_gradient!'s jacobian
Affie Oct 6, 2023
c552eb3
fix fromat
Affie Oct 6, 2023
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7 changes: 5 additions & 2 deletions src/plans/nonlinear_least_squares_plan.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -99,10 +99,13 @@ function get_gradient!(
end

function get_gradient!(
M::AbstractManifold, X, nlso::NonlinearLeastSquaresObjective{InplaceEvaluation}, p
M::AbstractManifold,
X,
nlso::NonlinearLeastSquaresObjective{InplaceEvaluation},
p,
Jval=zeros(nlso.num_components, manifold_dimension(M)),
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)
basis_p = _maybe_get_basis(M, p, nlso.jacobian_tangent_basis)
Jval = zeros(nlso.num_components, manifold_dimension(M))
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This is where all the allocations come from, in my case, I give a sparse jacobian as input.

nlso.jacobian!!(M, Jval, p; basis_domain=basis_p)
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residual_values = zeros(nlso.num_components)
nlso.f(M, residual_values, p)
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2 changes: 1 addition & 1 deletion src/solvers/LevenbergMarquardt.jl
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Expand Up @@ -207,7 +207,7 @@ function initialize_solver!(
lms::LevenbergMarquardtState,
) where {mT<:AbstractManifold}
get_objective(dmp).f(get_manifold(dmp), lms.residual_values, lms.p)
lms.X = get_gradient(dmp, lms.p)
get_gradient!(dmp, lms.X, lms.p, lms.jacF)
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return lms
end

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