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

Avoid alloc and copy

release/4.3a0
dellaert 2014-10-06 12:14:15 +02:00
parent c748fdb404
commit 0ed96dda33
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam_unstable/nonlinear/Expression.h
View File

@ -113,7 +113,7 @@ public:
Augmented<T> augmented(const Values& values) const { Augmented<T> augmented(const Values& values) const {
#define REVERSE_AD #define REVERSE_AD
#ifdef REVERSE_AD #ifdef REVERSE_AD
boost::shared_ptr<JacobianTrace<T> > trace = root_->traceExecution(values); boost::shared_ptr<JacobianTrace<T> > trace(root_->traceExecution(values));
Augmented<T> augmented(trace->value()); Augmented<T> augmented(trace->value());
trace->reverseAD(augmented.jacobians()); trace->reverseAD(augmented.jacobians());
return augmented; return augmented;