Skip to content

Commit 23eaa3f

Browse files
pavpanchekhaampcode-com
pavpanchekha
and
ampcode-com
committed
Merge main and resolve conflicts in taylor.rkt
Amp-Thread-ID: https://ampcode.com/threads/T-dfa51357-8b4a-42a7-a1a4-5557128d9185 Co-authored-by: Amp <[email protected]>
2 parents 5be6bc2 + 6b657f9 commit 23eaa3f

36 files changed

+1747
-1140
lines changed

‎.gitignore‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -26,3 +26,4 @@ herbie-compiled/
2626

2727
# Python
2828
.env/
29+
.worktrees

‎AGENT.md‎

Lines changed: 0 additions & 17 deletions
This file was deleted.

‎AGENTS.md‎

Lines changed: 47 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,47 @@
1+
2+
# Testing
3+
4+
- Run `make fmt` to format the code before finishing a task. This is
5+
mandatory and PRs that don't follow the coding style are rejected.
6+
- Always check your `git diff` before finishing a task. There's often
7+
leftover or dead code, and you should delete it.
8+
- Run `racket src/main.rkt report bench/tutorial.fpcore tmp` to test
9+
that your changes work; this should take about 5-10 seconds and all
10+
of the tests should pass, getting basically perfect accuracy.
11+
- You can also run the unit tests with `raco test <file>`, when unit
12+
tests exist. Often they don't.
13+
14+
# Profiling
15+
16+
- Herbie generates a profile by default; run the `report` command
17+
above and look at `tmp/<benchmark>/profile.json`.
18+
- You can also run with `--enable dump:trace` to output
19+
`dump-trace.json` in chrome://tracing format
20+
- Additionally `--enable dump:rival` outputs all Rival commands it
21+
executes, which can be useful for debugging Rival &
22+
arbitrary-precision code.
23+
24+
# Timeline
25+
26+
- The timeline is Herbie's observability tooling. Timeline information
27+
goes into `timeline.json` and `timeline.html`.
28+
- A timeline is a list of phases, each of which is a hash table from
29+
key to "table", where a table is a list of rows each of which is a
30+
fixed-length array. Define new timeline types in
31+
`src/utils/timeline.rkt` and add/change HTML generation in
32+
`src/reports/timeline.rkt`.
33+
- Add to the timeline with `(timeline-push! 'type val1 val2 ...)`. The
34+
`val`s must be JSON-compatible; this mostly means you have to
35+
convert symbols to strings.
36+
37+
# Documentation
38+
39+
- Documentation lives in `www/doc/2.3/` and is HTML-formatted. Update
40+
it if you change any user-visible options.
41+
42+
# PRs
43+
44+
- PR descriptions should be 1-3 paragraphs in length. Describe the
45+
current behavior and why you changed it. Avoid bullet points.
46+
- Be explicit about the expected impact: "should be faster", "should
47+
be more accurate", "pure refactor, no changes", and so on.

‎bench/physics/kalman.fpcore‎

Lines changed: 235 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,235 @@
1+
(FPCore (dt r)
2+
:name "Kalman filter per K"
3+
:pre (and (> dt 0) (> r 0))
4+
; initializing matrices
5+
(let ([p00 25.0]
6+
[p01 0.0]
7+
[p02 0.0]
8+
[p10 0.0]
9+
[p11 10.0]
10+
[p12 0.0]
11+
[p20 0.0]
12+
[p21 0.0]
13+
[p22 1.0]
14+
15+
[f00 1.0]
16+
[f01 dt]
17+
[f02 (* 0.5 (* dt dt))]
18+
[f10 0.0]
19+
[f11 1.0]
20+
[f12 dt]
21+
[f20 0.0]
22+
[f21 0.0]
23+
[f22 1.0]
24+
25+
[q00 (* 0.25 (* dt (* dt (* dt dt))))]
26+
[q01 (* 0.5 (* dt (* dt dt)))]
27+
[q02 (* 0.5 (* dt dt))]
28+
[q10 (* 0.5 (* dt (* dt dt)))]
29+
[q11 (* dt dt)]
30+
[q12 dt]
31+
[q20 (* 0.5 (* dt dt))]
32+
[q21 dt]
33+
[q22 1])
34+
; axbT_33(P, F, P)
35+
(let ([p00* (+ (+ (* p00 f00) (* p01 f01)) (* p02 f02))]
36+
[p01* (+ (+ (* p00 f10) (* p01 f11)) (* p02 f12))]
37+
[p02* (+ (+ (* p00 f20) (* p01 f21)) (* p02 f22))]
38+
[p10* (+ (+ (* p10 f00) (* p11 f01)) (* p12 f02))]
39+
[p11* (+ (+ (* p10 f10) (* p11 f11)) (* p12 f12))]
40+
[p12* (+ (+ (* p10 f20) (* p11 f21)) (* p12 f22))]
41+
[p20* (+ (+ (* p20 f00) (* p21 f01)) (* p22 f02))]
42+
[p21* (+ (+ (* p20 f10) (* p21 f11)) (* p22 f12))]
43+
[p22* (+ (+ (* p20 f20) (* p21 f21)) (* p22 f22))])
44+
; axb_33(F, P, P)
45+
(let ([p00** (+ (+ (* f00 p00*) (* f01 p10*)) (* f02 p20*))]
46+
[p01** (+ (+ (* f00 p01*) (* f01 p11*)) (* f02 p21*))]
47+
[p02** (+ (+ (* f00 p02*) (* f01 p12*)) (* f02 p22*))]
48+
[p10** (+ (+ (* f10 p00*) (* f11 p10*)) (* f12 p20*))]
49+
[p11** (+ (+ (* f10 p01*) (* f11 p11*)) (* f12 p21*))]
50+
[p12** (+ (+ (* f10 p02*) (* f11 p12*)) (* f12 p22*))]
51+
[p20** (+ (+ (* f20 p00*) (* f21 p10*)) (* f22 p20*))]
52+
[p21** (+ (+ (* f20 p01*) (* f21 p11*)) (* f22 p21*))]
53+
[p22** (+ (+ (* f20 p02*) (* f21 p12*)) (* f22 p22*))])
54+
; a_add_b_33(P, Q, P)
55+
(let ([p00*** (+ p00** q00)]
56+
[p01*** (+ p01** q01)]
57+
[p02*** (+ p02** q02)]
58+
[p10*** (+ p10** q10)]
59+
[p11*** (+ p11** q11)]
60+
[p12*** (+ p12** q12)]
61+
[p20*** (+ p20** q20)]
62+
[p21*** (+ p21** q21)]
63+
[p22*** (+ p22** q22)])
64+
; update_K
65+
(let ([K0 (/ p00*** (+ p00*** r))]
66+
[K1 (/ p10*** (+ p00*** r))]
67+
[K2 (/ p20*** (+ p00*** r))])
68+
K0))))))
69+
70+
(FPCore (x0 x1 x2 dt r sensor)
71+
:name "Kalman filter per x"
72+
:pre (and (> dt 0) (> r 0) (> sensor 0))
73+
; initializing matrices
74+
(let ([p00 25.0]
75+
[p01 0.0]
76+
[p02 0.0]
77+
[p10 0.0]
78+
[p11 10.0]
79+
[p12 0.0]
80+
[p20 0.0]
81+
[p21 0.0]
82+
[p22 1.0]
83+
84+
[f00 1.0]
85+
[f01 dt]
86+
[f02 (* 0.5 (* dt dt))]
87+
[f10 0.0]
88+
[f11 1.0]
89+
[f12 dt]
90+
[f20 0.0]
91+
[f21 0.0]
92+
[f22 1.0]
93+
94+
[q00 (* 0.25 (* dt (* dt (* dt dt))))]
95+
[q01 (* 0.5 (* dt (* dt dt)))]
96+
[q02 (* 0.5 (* dt dt))]
97+
[q10 (* 0.5 (* dt (* dt dt)))]
98+
[q11 (* dt dt)]
99+
[q12 dt]
100+
[q20 (* 0.5 (* dt dt))]
101+
[q21 dt]
102+
[q22 1])
103+
; axbT_33(P, F, P)
104+
(let ([p00* (+ (+ (* p00 f00) (* p01 f01)) (* p02 f02))]
105+
[p01* (+ (+ (* p00 f10) (* p01 f11)) (* p02 f12))]
106+
[p02* (+ (+ (* p00 f20) (* p01 f21)) (* p02 f22))]
107+
[p10* (+ (+ (* p10 f00) (* p11 f01)) (* p12 f02))]
108+
[p11* (+ (+ (* p10 f10) (* p11 f11)) (* p12 f12))]
109+
[p12* (+ (+ (* p10 f20) (* p11 f21)) (* p12 f22))]
110+
[p20* (+ (+ (* p20 f00) (* p21 f01)) (* p22 f02))]
111+
[p21* (+ (+ (* p20 f10) (* p21 f11)) (* p22 f12))]
112+
[p22* (+ (+ (* p20 f20) (* p21 f21)) (* p22 f22))])
113+
; axb_33(F, P, P)
114+
(let ([p00** (+ (+ (* f00 p00*) (* f01 p10*)) (* f02 p20*))]
115+
[p01** (+ (+ (* f00 p01*) (* f01 p11*)) (* f02 p21*))]
116+
[p02** (+ (+ (* f00 p02*) (* f01 p12*)) (* f02 p22*))]
117+
[p10** (+ (+ (* f10 p00*) (* f11 p10*)) (* f12 p20*))]
118+
[p11** (+ (+ (* f10 p01*) (* f11 p11*)) (* f12 p21*))]
119+
[p12** (+ (+ (* f10 p02*) (* f11 p12*)) (* f12 p22*))]
120+
[p20** (+ (+ (* f20 p00*) (* f21 p10*)) (* f22 p20*))]
121+
[p21** (+ (+ (* f20 p01*) (* f21 p11*)) (* f22 p21*))]
122+
[p22** (+ (+ (* f20 p02*) (* f21 p12*)) (* f22 p22*))])
123+
; a_add_b_33(P, Q, P)
124+
(let ([p00*** (+ p00** q00)]
125+
[p01*** (+ p01** q01)]
126+
[p02*** (+ p02** q02)]
127+
[p10*** (+ p10** q10)]
128+
[p11*** (+ p11** q11)]
129+
[p12*** (+ p12** q12)]
130+
[p20*** (+ p20** q20)]
131+
[p21*** (+ p21** q21)]
132+
[p22*** (+ p22** q22)])
133+
; update_K
134+
(let ([K0 (/ p00*** (+ p00*** r))]
135+
[K1 (/ p10*** (+ p00*** r))]
136+
[K2 (/ p20*** (+ p00*** r))])
137+
; predict_x
138+
(let ([x0* (+ x0 (+ x1 (* 0.5 (* dt (* dt x2)))))]
139+
[x1* (+ x1 x2)]
140+
[x2* x2])
141+
(let ([y (- sensor x0*)])
142+
; update_x
143+
(let ([x0** (+ x0* (* K0 y))]
144+
[x1** (+ x1* (* K1 y))]
145+
[x2** (+ x2* (* K2 y))])
146+
x0**)))))))))
147+
148+
(FPCore (dt r)
149+
:name "Kalman filter per P"
150+
:pre (and (> dt 0) (> r 0))
151+
; initializing matrices
152+
(let ([p00 25.0]
153+
[p01 0.0]
154+
[p02 0.0]
155+
[p10 0.0]
156+
[p11 10.0]
157+
[p12 0.0]
158+
[p20 0.0]
159+
[p21 0.0]
160+
[p22 1.0]
161+
162+
[f00 1.0]
163+
[f01 dt]
164+
[f02 (* 0.5 (* dt dt))]
165+
[f10 0.0]
166+
[f11 1.0]
167+
[f12 dt]
168+
[f20 0.0]
169+
[f21 0.0]
170+
[f22 1.0]
171+
172+
[q00 (* 0.25 (* dt (* dt (* dt dt))))]
173+
[q01 (* 0.5 (* dt (* dt dt)))]
174+
[q02 (* 0.5 (* dt dt))]
175+
[q10 (* 0.5 (* dt (* dt dt)))]
176+
[q11 (* dt dt)]
177+
[q12 dt]
178+
[q20 (* 0.5 (* dt dt))]
179+
[q21 dt]
180+
[q22 1])
181+
; axbT_33(P, F, P)
182+
(let ([p00* (+ (+ (* p00 f00) (* p01 f01)) (* p02 f02))]
183+
[p01* (+ (+ (* p00 f10) (* p01 f11)) (* p02 f12))]
184+
[p02* (+ (+ (* p00 f20) (* p01 f21)) (* p02 f22))]
185+
[p10* (+ (+ (* p10 f00) (* p11 f01)) (* p12 f02))]
186+
[p11* (+ (+ (* p10 f10) (* p11 f11)) (* p12 f12))]
187+
[p12* (+ (+ (* p10 f20) (* p11 f21)) (* p12 f22))]
188+
[p20* (+ (+ (* p20 f00) (* p21 f01)) (* p22 f02))]
189+
[p21* (+ (+ (* p20 f10) (* p21 f11)) (* p22 f12))]
190+
[p22* (+ (+ (* p20 f20) (* p21 f21)) (* p22 f22))])
191+
; axb_33(F, P, P)
192+
(let ([p00** (+ (+ (* f00 p00*) (* f01 p10*)) (* f02 p20*))]
193+
[p01** (+ (+ (* f00 p01*) (* f01 p11*)) (* f02 p21*))]
194+
[p02** (+ (+ (* f00 p02*) (* f01 p12*)) (* f02 p22*))]
195+
[p10** (+ (+ (* f10 p00*) (* f11 p10*)) (* f12 p20*))]
196+
[p11** (+ (+ (* f10 p01*) (* f11 p11*)) (* f12 p21*))]
197+
[p12** (+ (+ (* f10 p02*) (* f11 p12*)) (* f12 p22*))]
198+
[p20** (+ (+ (* f20 p00*) (* f21 p10*)) (* f22 p20*))]
199+
[p21** (+ (+ (* f20 p01*) (* f21 p11*)) (* f22 p21*))]
200+
[p22** (+ (+ (* f20 p02*) (* f21 p12*)) (* f22 p22*))])
201+
; a_add_b_33(P, Q, P)
202+
(let ([p00*** (+ p00** q00)]
203+
[p01*** (+ p01** q01)]
204+
[p02*** (+ p02** q02)]
205+
[p10*** (+ p10** q10)]
206+
[p11*** (+ p11** q11)]
207+
[p12*** (+ p12** q12)]
208+
[p20*** (+ p20** q20)]
209+
[p21*** (+ p21** q21)]
210+
[p22*** (+ p22** q22)])
211+
; update_K
212+
(let ([K0 (/ p00*** (+ p00*** r))]
213+
[K1 (/ p10*** (+ p00*** r))]
214+
[K2 (/ p20*** (+ p00*** r))])
215+
; update_P
216+
(let ([eyekh00 (- 1 K0)]
217+
[eyekh01 0.0]
218+
[eyekh02 0.0]
219+
[eyekh10 (- K1)]
220+
[eyekh11 1.0]
221+
[eyekh12 0.0]
222+
[eyekh20 (- K2)]
223+
[eyekh21 0.0]
224+
[eyekh22 1.0])
225+
; axb_33(&eyekh, P, P)
226+
(let ([p00**** (+ (+ (* eyekh00 p00***) (* eyekh01 p10***)) (* eyekh02 p20***))]
227+
[p01**** (+ (+ (* eyekh00 p01***) (* eyekh01 p11***)) (* eyekh02 p21***))]
228+
[p02**** (+ (+ (* eyekh00 p02***) (* eyekh01 p12***)) (* eyekh02 p22***))]
229+
[p10**** (+ (+ (* eyekh10 p00***) (* eyekh11 p10***)) (* eyekh12 p20***))]
230+
[p11**** (+ (+ (* eyekh10 p01***) (* eyekh11 p11***)) (* eyekh12 p21***))]
231+
[p12**** (+ (+ (* eyekh10 p02***) (* eyekh11 p12***)) (* eyekh12 p22***))]
232+
[p20**** (+ (+ (* eyekh20 p00***) (* eyekh21 p10***)) (* eyekh22 p20***))]
233+
[p21**** (+ (+ (* eyekh20 p01***) (* eyekh21 p11***)) (* eyekh22 p21***))]
234+
[p22**** (+ (+ (* eyekh20 p02***) (* eyekh21 p12***)) (* eyekh22 p22***))])
235+
p00****))))))))

‎bench/regression.fpcore‎

Lines changed: 10 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -136,3 +136,13 @@
136136
(log (/ (sinh x) x))))
137137

138138
(log (/ (sinh x) x)))
139+
140+
(FPCore (x)
141+
:name "bug1188 (missed optimization)"
142+
:alt
143+
(! :herbie-platform default
144+
(if (>= (fabs x) (pow 2 52))
145+
0.0
146+
(sin (* PI x))))
147+
148+
(sin (* PI x)))

‎src/api/demo.rkt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -439,7 +439,7 @@
439439
([entry (in-list json)])
440440
(match-define (list pt ex) entry)
441441
(unless (and (list? pt) (= (length pt) (length var-reprs)))
442-
(error 'json->pcontext "Invalid point ~a" pt))
442+
(raise-arguments-error 'json->pcontext "Invalid point" "pt" pt))
443443
(values (list->vector (map json->value pt var-reprs)) (json->value ex output-repr))))
444444
(mk-pcontext pts exs))
445445

‎src/api/sandbox.rkt‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -167,7 +167,7 @@
167167
(match command
168168
['improve
169169
(job-result command test 'timeout (*timeout*) (timeline-extract) #f (warning-log) #f)]
170-
[_ (error 'run-herbie "command ~a timed out" command)])))
170+
[_ (raise-arguments-error 'run-herbie "command timed out" "command" command)])))
171171

172172
(define (compute-result)
173173
(parameterize ([*timeline-disabled* (not timeline?)])
@@ -189,7 +189,7 @@
189189
['improve (get-alternatives test (get-sample test))]
190190
['local-error (get-local-error test pcontext)]
191191
['sample (get-sample test)]
192-
[_ (error 'compute-result "unknown command ~a" command)]))
192+
[_ (raise-arguments-error 'compute-result "unknown command" "command" command)]))
193193
(timeline-event! 'end)
194194
(define time (- (current-inexact-milliseconds) start-time))
195195
(job-result command test 'success time (timeline-extract) #f (warning-log) result))))

‎src/api/server.rkt‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -236,7 +236,7 @@
236236
job-id]
237237
[(list 'count) (hash-count queued-jobs)]
238238
[(list 'improve)
239-
(for/list ([(job-id result) (in-hash completed-jobs)]
239+
(for/list ([result (in-hash-values completed-jobs)]
240240
#:when (equal? (hash-ref result 'command) "improve"))
241241
result)]
242242
[(list 'forget job-id)
@@ -368,7 +368,7 @@
368368
; Retrieve the improve results for results.json
369369
[(list 'improve handler)
370370
(define improved-list
371-
(for/list ([(job-id result) (in-hash completed-jobs)]
371+
(for/list ([result (in-hash-values completed-jobs)]
372372
#:when (equal? (hash-ref result 'command) "improve"))
373373
result))
374374
(place-channel-put handler improved-list)]

0 commit comments

Comments
 (0)