Allow Hessian functors to return Hessian as compressed sparse matrix

[andrjohns]

Summary

The Hessian functors currently return a full symmetric matrix for the Hessian, using double the memory needed. This PR updates the Hessian functors to return only the lower-triangular of the Hessian as a compressed sparse matrix by default, with overloads for returning the full symmetric matrix.

Tests

N/A - Current signatures now delegate to the sparse implementation, so current tests should continue to pass

Side Effects

Possibility of reduced memory usage and more efficient Eigen expressions for functions which need to manipulate the Hessian.

Release notes

Added compressed sparse matrix return for Hessian functors

Checklist

• [x] Copyright holder: Andrew Johnson

  The copyright holder is typically you or your assignee, such as a university or company. By submitting this pull request, the copyright holder is agreeing to the license the submitted work under the following licenses: - Code: BSD 3-clause (https://opensource.org/licenses/BSD-3-Clause) - Documentation: CC-BY 4.0 (https://creativecommons.org/licenses/by/4.0/)

• [x] the basic tests are passing

  • unit tests pass (to run, use: ./runTests.py test/unit)
  • header checks pass, (make test-headers)
  • dependencies checks pass, (make test-math-dependencies)
  • docs build, (make doxygen)
  • code passes the built in C++ standards checks (make cpplint)

• [x] the code is written in idiomatic C++ and changes are documented in the doxygen

• [x] the new changes are tested

[SteveBronder]

Should we be keeping the old signatures and just adding new ones?

[andrjohns]

Should we be keeping the old signatures and just adding new ones?

I thought that's what I was doing here (unless I'm misunderstanding).

The old signatures are still present, they just delegate to the sparse signatures for the implementation

[SteveBronder]

Oh sorry! Was confused looking on github.

[andrjohns]

lgtm once the upstream tests pass

Adding the early return with fx = f(x); actually help catch a bug with the existing hessian implementations.

The other hessian functions already had this early return, but they were only compiling because of the templating in the tests.

The functors passed to the hessian calls are supposed to take and return the higher-level type (like fvar<T>), while the function value is always returned as the lower-level/value type (e.g., double).

So directly assigning the result of the functor to the value will only compile if the functor is templated/overloaded, and they should have been wrapped in a value_of() call

[stan-buildbot]

---

Name	Old Result	New Result	Ratio	Performance change( 1 - new / old )
arma/arma.stan	1.02	0.19	5.32	81.21% faster
low_dim_corr_gauss/low_dim_corr_gauss.stan	0.01	0.01	0.98	-2.32% slower
gp_regr/gen_gp_data.stan	0.02	0.02	1.08	7.39% faster
gp_regr/gp_regr.stan	0.11	0.11	1.02	1.9% faster
sir/sir.stan	80.97	80.08	1.01	1.1% faster
irt_2pl/irt_2pl.stan	4.09	4.07	1.01	0.5% faster
eight_schools/eight_schools.stan	0.05	0.05	0.99	-1.4% slower
pkpd/sim_one_comp_mm_elim_abs.stan	0.26	0.25	1.02	2.03% faster
pkpd/one_comp_mm_elim_abs.stan	18.62	18.3	1.02	1.73% faster
garch/garch.stan	0.48	0.49	0.98	-2.04% slower
low_dim_gauss_mix/low_dim_gauss_mix.stan	2.88	2.89	1.0	-0.37% slower
arK/arK.stan	1.71	1.68	1.02	1.78% faster
gp_pois_regr/gp_pois_regr.stan	2.59	2.58	1.0	0.33% faster
low_dim_gauss_mix_collapse/low_dim_gauss_mix_collapse.stan	9.55	9.36	1.02	1.96% faster
performance.compilation	186.06	187.14	0.99	-0.58% slower
Mean result: 1.2968084938879652

---

Jenkins Console Log Blue Ocean Commit hash: 13017193216fe150e9a8fadbc7b3f9cb71f8a58d

---

Machine information

No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 20.04.3 LTS Release: 20.04 Codename: focal

CPU: Architecture: x86_64 CPU op-mode(s): 32-bit, 64-bit Byte Order: Little Endian Address sizes: 46 bits physical, 48 bits virtual CPU(s): 80 On-line CPU(s) list: 0-79 Thread(s) per core: 2 Core(s) per socket: 20 Socket(s): 2 NUMA node(s): 2 Vendor ID: GenuineIntel CPU family: 6 Model: 85 Model name: Intel(R) Xeon(R) Gold 6148 CPU @ 2.40GHz Stepping: 4 CPU MHz: 2400.000 CPU max MHz: 3700.0000 CPU min MHz: 1000.0000 BogoMIPS: 4800.00 Virtualization: VT-x L1d cache: 1.3 MiB L1i cache: 1.3 MiB L2 cache: 40 MiB L3 cache: 55 MiB NUMA node0 CPU(s): 0,2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32,34,36,38,40,42,44,46,48,50,52,54,56,58,60,62,64,66,68,70,72,74,76,78 NUMA node1 CPU(s): 1,3,5,7,9,11,13,15,17,19,21,23,25,27,29,31,33,35,37,39,41,43,45,47,49,51,53,55,57,59,61,63,65,67,69,71,73,75,77,79 Vulnerability Gather data sampling: Mitigation; Microcode Vulnerability Itlb multihit: KVM: Mitigation: VMX disabled Vulnerability L1tf: Mitigation; PTE Inversion; VMX conditional cache flushes, SMT vulnerable Vulnerability Mds: Mitigation; Clear CPU buffers; SMT vulnerable Vulnerability Meltdown: Mitigation; PTI Vulnerability Mmio stale data: Mitigation; Clear CPU buffers; SMT vulnerable Vulnerability Retbleed: Mitigation; IBRS Vulnerability Spec rstack overflow: Not affected Vulnerability Spec store bypass: Mitigation; Speculative Store Bypass disabled via prctl Vulnerability Spectre v1: Mitigation; usercopy/swapgs barriers and __user pointer sanitization Vulnerability Spectre v2: Mitigation; IBRS, IBPB conditional, STIBP conditional, RSB filling, PBRSB-eIBRS Not affected Vulnerability Srbds: Not affected Vulnerability Tsx async abort: Mitigation; Clear CPU buffers; SMT vulnerable Flags: fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx pdpe1gb rdtscp lm constant_tsc art arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc cpuid aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx smx est tm2 ssse3 sdbg fma cx16 xtpr pdcm pcid dca sse4_1 sse4_2 x2apic movbe popcnt tsc_deadline_timer aes xsave avx f16c rdrand lahf_lm abm 3dnowprefetch cpuid_fault epb cat_l3 cdp_l3 invpcid_single pti intel_ppin ssbd mba ibrs ibpb stibp tpr_shadow vnmi flexpriority ept vpid ept_ad fsgsbase tsc_adjust bmi1 hle avx2 smep bmi2 erms invpcid rtm cqm mpx rdt_a avx512f avx512dq rdseed adx smap clflushopt clwb intel_pt avx512cd avx512bw avx512vl xsaveopt xsavec xgetbv1 xsaves cqm_llc cqm_occup_llc cqm_mbm_total cqm_mbm_local dtherm ida arat pln pts hwp hwp_act_window hwp_epp hwp_pkg_req pku ospke md_clear flush_l1d arch_capabilities

G++: g++ (Ubuntu 9.4.0-1ubuntu1~20.04) 9.4.0 Copyright (C) 2019 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

Clang: clang version 10.0.0-4ubuntu1 Target: x86_64-pc-linux-gnu Thread model: posix InstalledDir: /usr/bin

[stan-buildbot]

---

Name	Old Result	New Result	Ratio	Performance change( 1 - new / old )
arma/arma.stan	0.2	0.18	1.08	7.6% faster
low_dim_corr_gauss/low_dim_corr_gauss.stan	0.01	0.01	1.23	18.62% faster
gp_regr/gen_gp_data.stan	0.02	0.02	1.07	6.44% faster
gp_regr/gp_regr.stan	0.11	0.1	1.07	6.35% faster
sir/sir.stan	80.2	74.6	1.08	6.98% faster
irt_2pl/irt_2pl.stan	3.91	3.9	1.0	0.41% faster
eight_schools/eight_schools.stan	0.05	0.05	1.03	3.27% faster
pkpd/sim_one_comp_mm_elim_abs.stan	0.25	0.25	0.99	-1.39% slower
pkpd/one_comp_mm_elim_abs.stan	18.13	18.53	0.98	-2.2% slower
garch/garch.stan	0.46	0.47	0.97	-2.57% slower
low_dim_gauss_mix/low_dim_gauss_mix.stan	2.82	2.83	1.0	-0.46% slower
arK/arK.stan	1.73	1.67	1.04	3.39% faster
gp_pois_regr/gp_pois_regr.stan	2.53	2.54	1.0	-0.43% slower
low_dim_gauss_mix_collapse/low_dim_gauss_mix_collapse.stan	9.11	9.31	0.98	-2.16% slower
performance.compilation	184.18	178.5	1.03	3.09% faster
Mean result: 1.0358148336830117

---

Jenkins Console Log Blue Ocean Commit hash: 13017193216fe150e9a8fadbc7b3f9cb71f8a58d

---

Machine information

No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 20.04.3 LTS Release: 20.04 Codename: focal

CPU: Architecture: x86_64 CPU op-mode(s): 32-bit, 64-bit Byte Order: Little Endian Address sizes: 46 bits physical, 48 bits virtual CPU(s): 80 On-line CPU(s) list: 0-79 Thread(s) per core: 2 Core(s) per socket: 20 Socket(s): 2 NUMA node(s): 2 Vendor ID: GenuineIntel CPU family: 6 Model: 85 Model name: Intel(R) Xeon(R) Gold 6148 CPU @ 2.40GHz Stepping: 4 CPU MHz: 2400.000 CPU max MHz: 3700.0000 CPU min MHz: 1000.0000 BogoMIPS: 4800.00 Virtualization: VT-x L1d cache: 1.3 MiB L1i cache: 1.3 MiB L2 cache: 40 MiB L3 cache: 55 MiB NUMA node0 CPU(s): 0,2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32,34,36,38,40,42,44,46,48,50,52,54,56,58,60,62,64,66,68,70,72,74,76,78 NUMA node1 CPU(s): 1,3,5,7,9,11,13,15,17,19,21,23,25,27,29,31,33,35,37,39,41,43,45,47,49,51,53,55,57,59,61,63,65,67,69,71,73,75,77,79 Vulnerability Gather data sampling: Mitigation; Microcode Vulnerability Itlb multihit: KVM: Mitigation: VMX disabled Vulnerability L1tf: Mitigation; PTE Inversion; VMX conditional cache flushes, SMT vulnerable Vulnerability Mds: Mitigation; Clear CPU buffers; SMT vulnerable Vulnerability Meltdown: Mitigation; PTI Vulnerability Mmio stale data: Mitigation; Clear CPU buffers; SMT vulnerable Vulnerability Retbleed: Mitigation; IBRS Vulnerability Spec rstack overflow: Not affected Vulnerability Spec store bypass: Mitigation; Speculative Store Bypass disabled via prctl Vulnerability Spectre v1: Mitigation; usercopy/swapgs barriers and __user pointer sanitization Vulnerability Spectre v2: Mitigation; IBRS, IBPB conditional, STIBP conditional, RSB filling, PBRSB-eIBRS Not affected Vulnerability Srbds: Not affected Vulnerability Tsx async abort: Mitigation; Clear CPU buffers; SMT vulnerable Flags: fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx pdpe1gb rdtscp lm constant_tsc art arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc cpuid aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx smx est tm2 ssse3 sdbg fma cx16 xtpr pdcm pcid dca sse4_1 sse4_2 x2apic movbe popcnt tsc_deadline_timer aes xsave avx f16c rdrand lahf_lm abm 3dnowprefetch cpuid_fault epb cat_l3 cdp_l3 invpcid_single pti intel_ppin ssbd mba ibrs ibpb stibp tpr_shadow vnmi flexpriority ept vpid ept_ad fsgsbase tsc_adjust bmi1 hle avx2 smep bmi2 erms invpcid rtm cqm mpx rdt_a avx512f avx512dq rdseed adx smap clflushopt clwb intel_pt avx512cd avx512bw avx512vl xsaveopt xsavec xgetbv1 xsaves cqm_llc cqm_occup_llc cqm_mbm_total cqm_mbm_local dtherm ida arat pln pts hwp hwp_act_window hwp_epp hwp_pkg_req pku ospke md_clear flush_l1d arch_capabilities

G++: g++ (Ubuntu 9.4.0-1ubuntu1~20.04) 9.4.0 Copyright (C) 2019 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

Clang: clang version 10.0.0-4ubuntu1 Target: x86_64-pc-linux-gnu Thread model: posix InstalledDir: /usr/bin

[SteveBronder]

@andrjohns actually does this save memory? Since we return a lower right triangle we will have N(N+1)/2 entries. And