Include gradient tree generation in Hessian setup time (SleipnirGroup…

…#691)
calcmogul · Jan 17, 2025 · 9537d65 · 9537d65
1 parent ecdb394
commit 9537d65
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Showing 3 changed files with 18 additions and 5 deletions.
diff --git a/include/sleipnir/autodiff/Hessian.hpp b/include/sleipnir/autodiff/Hessian.hpp
@@ -36,6 +36,8 @@ class SLEIPNIR_DLLEXPORT Hessian {
   Hessian(Variable variable, const VariableMatrix& wrt) noexcept
       : m_jacobian{
             [&] {
+              m_profiler.StartSetup();
+
               small_vector<detail::ExpressionPtr> wrtVec;
               wrtVec.reserve(wrt.size());
               for (auto& elem : wrt) {
@@ -52,7 +54,9 @@ class SLEIPNIR_DLLEXPORT Hessian {
               }
               return ret;
             }(),
-            wrt} {}
+            wrt} {
+    m_profiler.StopSetup();
+  }
 
   /**
    * Returns the Hessian as a VariableMatrix.
@@ -65,14 +69,20 @@ class SLEIPNIR_DLLEXPORT Hessian {
   /**
    * Evaluates the Hessian at wrt's value.
    */
-  const Eigen::SparseMatrix<double>& Value() { return m_jacobian.Value(); }
+  const Eigen::SparseMatrix<double>& Value() {
+    m_profiler.StartSolve();
+    const auto& H = m_jacobian.Value();
+    m_profiler.StopSolve();
+    return H;
+  }
 
   /**
    * Returns the profiler.
    */
-  Profiler& GetProfiler() { return m_jacobian.GetProfiler(); }
+  Profiler& GetProfiler() { return m_profiler; }
 
  private:
+  Profiler m_profiler;
   Jacobian m_jacobian;
 };
 

diff --git a/include/sleipnir/autodiff/Jacobian.hpp b/include/sleipnir/autodiff/Jacobian.hpp
@@ -98,12 +98,13 @@ class SLEIPNIR_DLLEXPORT Jacobian {
    * Evaluates the Jacobian at wrt's value.
    */
   const Eigen::SparseMatrix<double>& Value() {
+    m_profiler.StartSolve();
+
     if (m_nonlinearRows.empty()) {
+      m_profiler.StopSolve();
       return m_J;
     }
 
-    m_profiler.StartSolve();
-
     for (auto& graph : m_graphs) {
       graph.Update();
     }

diff --git a/jormungandr/cpp/Docstrings.hpp b/jormungandr/cpp/Docstrings.hpp
@@ -203,6 +203,8 @@ static const char *__doc_sleipnir_Hessian_Value = R"doc(Evaluates the Hessian at
 
 static const char *__doc_sleipnir_Hessian_m_jacobian = R"doc()doc";
 
+static const char *__doc_sleipnir_Hessian_m_profiler = R"doc()doc";
+
 static const char *__doc_sleipnir_InequalityConstraints = R"doc(A vector of inequality constraints of the form cᵢ(x) ≥ 0.)doc";
 
 static const char *__doc_sleipnir_InequalityConstraints_InequalityConstraints =