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Merge pull request #1371 from NASA-AMMOS/performance/intervalmap
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Performance/intervalmap
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@dandelany
dandelany authored Mar 29, 2024
2 parents 0b65676 + 1cd8714 commit e57d756
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Showing 10 changed files with 397 additions and 149 deletions.
20 changes: 10 additions & 10 deletions constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/DiscreteProfile.java
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Original file line number Diff line number Diff line change
Expand Up @@ -60,15 +60,14 @@ public Windows notEqualTo(final DiscreteProfile other) {
@Override
public Windows changePoints() {
final var result = IntervalMap.<Boolean>builder().set(this.profilePieces.map($ -> false));
for (int i = 0; i < this.profilePieces.size(); i++) {
final var segment = this.profilePieces.get(i);
if (i == 0) {
for (final var segment : profilePieces) {
if (segment == profilePieces.first()) {
if (!segment.interval().contains(Duration.MIN_VALUE)) {
result.unset(Interval.at(segment.interval().start));
}
} else {
final var previousSegment = this.profilePieces.get(i-1);
if (Interval.meets(previousSegment.interval(), segment.interval())) {
final var previousSegment = this.profilePieces.segments().lower(segment);
if (previousSegment != null && Interval.meets(previousSegment.interval(), segment.interval())) {
if (!previousSegment.value().equals(segment.value())) {
result.set(Interval.at(segment.interval().start), true);
}
Expand All @@ -83,15 +82,16 @@ public Windows changePoints() {

public Windows transitions(final SerializedValue oldState, final SerializedValue newState) {
final var result = IntervalMap.<Boolean>builder().set(this.profilePieces.map($ -> false));
for (int i = 0; i < this.profilePieces.size(); i++) {
final var segment = this.profilePieces.get(i);
if (i == 0) {
for (final var segment : profilePieces) {
//for (int i = 0; i < this.profilePieces.size(); i++) {
//final var segment = this.profilePieces.get(i);
if (segment == profilePieces.first()) {
if (segment.value().equals(newState) && !segment.interval().contains(Duration.MIN_VALUE)) {
result.unset(Interval.at(segment.interval().start));
}
} else {
final var previousSegment = this.profilePieces.get(i-1);
if (Interval.meets(previousSegment.interval(), segment.interval())) {
final var previousSegment = this.profilePieces.segments().lower(segment);
if (previousSegment != null && Interval.meets(previousSegment.interval(), segment.interval())) {
if (previousSegment.value().equals(oldState) && segment.value().equals(newState)) {
result.set(Interval.at(segment.interval().start), true);
}
Expand Down
10 changes: 9 additions & 1 deletion constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/LinearEquation.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
/**
* A linear equation in point-slope form.
*/
public final class LinearEquation {
public final class LinearEquation implements Comparable<LinearEquation> {
public final Duration initialTime;
public final double initialValue;
public final double rate;
Expand Down Expand Up @@ -185,4 +185,12 @@ public boolean equals(final Object obj) {
public int hashCode() {
return Objects.hash(this.initialValue, this.initialTime, this.rate);
}

@Override
public int compareTo(final LinearEquation o) {
int c = Double.compare(this.valueAt(Duration.ZERO), o.valueAt(Duration.ZERO));
if (c != 0) return c;
c = Double.compare(this.valueAt(Duration.MINUTE), o.valueAt(Duration.MINUTE));
return c;
}
}
11 changes: 5 additions & 6 deletions constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/LinearProfile.java
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Original file line number Diff line number Diff line change
Expand Up @@ -106,17 +106,16 @@ private Windows getWindowsSatisfying(final LinearProfile other, final BiFunction
@Override
public Windows changePoints() {
final var result = IntervalMap.<Boolean>builder().set(this.profilePieces.map(LinearEquation::changing));
for (int i = 0; i < this.profilePieces.size(); i++) {
final var segment = this.profilePieces.get(i);
for (final var segment : profilePieces) {
final var startTime = segment.interval().start;
if (i == 0) {
if (segment == profilePieces.first()) {
if (!segment.interval().contains(Duration.MIN_VALUE)) {
result.unset(Interval.at(startTime));
}
} else {
final var previousSegment = this.profilePieces.get(i-1);
final var previousSegment = this.profilePieces.segments().lower(segment);

if (Interval.meets(previousSegment.interval(), segment.interval())) {
if (previousSegment != null && Interval.meets(previousSegment.interval(), segment.interval())) {
if (previousSegment.value().valueAt(startTime) != segment.value().valueAt(startTime)) {
result.set(Interval.at(startTime), true);
}
Expand All @@ -133,7 +132,7 @@ public Windows changePoints() {
@Override
public boolean isConstant() {
return profilePieces.isEmpty() ||
(profilePieces.size() == 1 && !profilePieces.get(0).value().changing());
(profilePieces.size() == 1 && !profilePieces.first().value().changing());
}

/** Assigns a default value to all gaps in the profile. */
Expand Down
6 changes: 5 additions & 1 deletion constraints/src/main/java/gov/nasa/jpl/aerie/constraints/time/Interval.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
import org.apache.commons.lang3.tuple.Pair;

import java.util.Comparator;
import java.util.Objects;

import static gov.nasa.jpl.aerie.constraints.time.Interval.Inclusivity.Exclusive;
Expand Down Expand Up @@ -277,7 +278,10 @@ public boolean adjacent(Interval x){

@Override
public int compareTo(final Interval o) {
return start.compareTo(o.start);
int c = compareStarts(o);
if (c != 0) return c;
c = compareEnds(o);
return c;
}

public static int compareStartToStart(final Interval x, final Interval y) {
Expand Down
69 changes: 61 additions & 8 deletions constraints/src/main/java/gov/nasa/jpl/aerie/constraints/time/IntervalAlgebra.java
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,54 @@ public static Interval strictUpperBoundsOf(final Interval x) {
);
}

/**
* Whether the start of one interval is before the start of another. This assumes that the intervals are both
* non-empty but does not check.
* @param x the first interval
* @param y the second interval
* @return whether the start of x is before the start of y
*/
public static boolean startBeforeStart(Interval x, Interval y) {
return x.start.shorterThan(y.start) ||
(x.start.isEqualTo(y.start) && (x.includesStart() && !y.includesStart()));
}

/**
* Whether the end of one interval is before the start of another. This assumes that the intervals are both
* non-empty but does not check.
* @param x the first interval
* @param y the second interval
* @return whether the end of x is before the start of y
*/
public static boolean endBeforeStart(Interval x, Interval y) {
return x.end.shorterThan(y.start) ||
(x.end.isEqualTo(y.start) && (!x.includesEnd() || !y.includesStart()));
}

/**
* Whether the end of one interval is before the end of another. This assumes that the intervals are both
* non-empty but does not check.
* @param x the first interval
* @param y the second interval
* @return whether the end of x is before the end of y
*/
public static boolean endBeforeEnd(Interval x, Interval y) {
return x.end.shorterThan(y.end) ||
(x.end.isEqualTo(y.end) && (!x.includesEnd() && y.includesEnd()));
}

/**
* Whether the start of one interval is before the end of another. This assumes that the intervals are both
* non-empty but does not check.
* @param x the first interval
* @param y the second interval
* @return whether the start of x is before the end of y
*/
public static boolean startBeforeEnd(Interval x, Interval y) {
return x.start.shorterThan(y.end);
}


/**
* Whether any point is contained in both operands.
*
Expand All @@ -110,7 +158,8 @@ public static Interval strictUpperBoundsOf(final Interval x) {
* @return whether the operands overlap
*/
static boolean overlaps(Interval x, Interval y) {
return !isEmpty(intersect(x, y));
if (x.isEmpty() || y.isEmpty()) return false;
return !endBeforeStart(x, y) && !endBeforeStart(y, x);
}

/**
Expand All @@ -121,9 +170,8 @@ static boolean overlaps(Interval x, Interval y) {
* @return whether `outer` contains every point in `inner`
*/
static boolean contains(Interval outer, Interval inner) {
// If `inner` doesn't overlap with the complement of `outer`,
// then `inner` must exist entirely within `outer`.
return !(overlaps(inner, strictUpperBoundsOf(outer)) || overlaps(inner, strictLowerBoundsOf(outer)));
if (outer.isEmpty() || inner.isEmpty()) return false;
return !startBeforeStart(inner, outer) && !endBeforeEnd(outer, inner);
}

/**
Expand Down Expand Up @@ -158,7 +206,8 @@ static boolean equals(Interval x, Interval y) {
* @return whether the start point of x is before all points in y
*/
static boolean startsBefore(Interval x, Interval y) {
return strictlyContains(strictLowerBoundsOf(y), strictLowerBoundsOf(x));
if (x.isEmpty() || y.isEmpty()) return false;
return startBeforeStart(x, y);
}

/**
Expand All @@ -169,7 +218,8 @@ static boolean startsBefore(Interval x, Interval y) {
* @return whether the end point of x is after all points in y
*/
static boolean endsAfter(Interval x, Interval y) {
return strictlyContains(strictUpperBoundsOf(y), strictUpperBoundsOf(x));
if (x.isEmpty() || y.isEmpty()) return false;
return endBeforeEnd(y, x);
}

/**
Expand Down Expand Up @@ -213,7 +263,9 @@ static boolean startsStrictlyAfter(Interval x, Interval y) {
* @return whether the end point of x is strictly before all points in y
*/
static boolean endsStrictlyBefore(Interval x, Interval y) {
return !isEmpty(intersect(strictUpperBoundsOf(x), strictLowerBoundsOf(y)));
if (x.isEmpty() || y.isEmpty()) return false;
return x.end.shorterThan(y.start) ||
(x.end.isEqualTo(y.start) && (!x.includesEnd() && !y.includesStart()));
}

/**
Expand All @@ -224,7 +276,8 @@ static boolean endsStrictlyBefore(Interval x, Interval y) {
* @return whether x ends when y begins, with no overlap and no gap
*/
static boolean meets(Interval x, Interval y) {
return equals(strictUpperBoundsOf(x), strictUpperBoundsOf(strictLowerBoundsOf(y)));
if (x.isEmpty() || y.isEmpty()) return false;
return x.end.isEqualTo(y.start) && (x.endInclusivity != y.startInclusivity);
}

/**
Expand Down
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