12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add forward() in TernaryExpression

release/4.3a0
Sungtae An 2014-10-05 17:36:53 -04:00
parent 0a7db2d252
commit 0421d05d44
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam_unstable/nonlinear/Expression-inl.h
View File

@ -520,17 +520,17 @@ public:
}
/// Return value and derivatives
virtual Augmented<T> augmented(const Values& values) const {
virtual Augmented<T> forward(const Values& values) const {
using boost::none;
Augmented<A1> argument1 = this->expressionA1_->augmented(values);
Augmented<A2> argument2 = this->expressionA2_->augmented(values);
Augmented<A2> argument3 = this->expressionA3_->augmented(values);
Augmented<A1> argument1 = this->expressionA1_->forward(values);
Augmented<A2> argument2 = this->expressionA2_->forward(values);
Augmented<A3> argument3 = this->expressionA3_->forward(values);
Matrix H1, H2, H3;
T t = function_(argument1.value(), argument2.value(), argument3.value(),
argument1.constant() ? none : boost::optional<Matrix&>(H1),
argument2.constant() ? none : boost::optional<Matrix&>(H2),
argument3.constant() ? none : boost::optional<Matrix&>(H3));
return Augmented<T>(t, H1, argument1.jacobians(), H2, argument2.jacobians());
return Augmented<T>(t, H1, argument1.jacobians(), H2, argument2.jacobians(), H3, argument3.jacobians());
}
};