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

Merged in fix/windowsExpressions (pull request #69) 

Windows Fixes
release/4.3a0
Frank Dellaert 2014-12-09 19:06:02 +01:00
parent fdc1d50801 1e778cf77b
commit 2d231edd1b
4 changed files with 19 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/nonlinear/Expression-inl.h
View File

@ -561,8 +561,8 @@ struct GenerateFunctionalNode: Argument<T, A, Base::N + 1>, Base {
/// Given df/dT, multiply in dT/dA and continue reverse AD process /// Given df/dT, multiply in dT/dA and continue reverse AD process
// Cols is always known at compile time // Cols is always known at compile time
template<int Rows, int Cols> template<typename SomeMatrix>
void reverseAD4(const Eigen::Matrix<double, Rows, Cols> & dFdT, void reverseAD4(const SomeMatrix & dFdT,
JacobianMap& jacobians) const { JacobianMap& jacobians) const {
Base::Record::reverseAD4(dFdT, jacobians); Base::Record::reverseAD4(dFdT, jacobians);
This::trace.reverseAD1(dFdT * This::dTdA, jacobians); This::trace.reverseAD1(dFdT * This::dTdA, jacobians);

14
gtsam/nonlinear/Expression.h
View File

@ -206,10 +206,24 @@ private:
// with an execution trace, made up entirely of "Record" structs, see // with an execution trace, made up entirely of "Record" structs, see
// the FunctionalNode class in expression-inl.h // the FunctionalNode class in expression-inl.h
size_t size = traceSize(); size_t size = traceSize();
// Windows does not support variable length arrays, so memory must be dynamically
// allocated on Visual Studio. For more information see the issue below
// https://bitbucket.org/gtborg/gtsam/issue/178/vlas-unsupported-in-visual-studio
#ifdef _MSC_VER
ExecutionTraceStorage* traceStorage = new ExecutionTraceStorage[size];
#else
ExecutionTraceStorage traceStorage[size]; ExecutionTraceStorage traceStorage[size];
#endif
ExecutionTrace<T> trace; ExecutionTrace<T> trace;
T value(traceExecution(values, trace, traceStorage)); T value(traceExecution(values, trace, traceStorage));
trace.startReverseAD1(jacobians); trace.startReverseAD1(jacobians);
#ifdef _MSC_VER
delete[] traceStorage;
#endif
return value; return value;
} }

3
gtsam_unstable/nonlinear/expressions.h
View File

@ -13,8 +13,7 @@
namespace gtsam { namespace gtsam {
// Generics // Generics
template<typename T>
template<class T>
Expression<T> between(const Expression<T>& t1, const Expression<T>& t2) { Expression<T> between(const Expression<T>& t1, const Expression<T>& t2) {
return Expression<T>(t1, &T::between, t2); return Expression<T>(t1, &T::between, t2);
} }

11
gtsam_unstable/slam/expressions.h
View File

@ -20,10 +20,7 @@ typedef Expression<Rot2> Rot2_;
typedef Expression<Pose2> Pose2_; typedef Expression<Pose2> Pose2_;
Point2_ transform_to(const Pose2_& x, const Point2_& p) { Point2_ transform_to(const Pose2_& x, const Point2_& p) {
Point2 (Pose2::*transform)(const Point2& p, OptionalJacobian<2, 3> H1, return Point2_(x, &Pose2::transform_to, p);
OptionalJacobian<2, 2> H2) const = &Pose2::transform_to;
return Point2_(x, transform, p);
} }
// 3D Geometry // 3D Geometry
@ -33,11 +30,7 @@ typedef Expression<Rot3> Rot3_;
typedef Expression<Pose3> Pose3_; typedef Expression<Pose3> Pose3_;
Point3_ transform_to(const Pose3_& x, const Point3_& p) { Point3_ transform_to(const Pose3_& x, const Point3_& p) {
return Point3_(x, &Pose3::transform_to, p);
Point3 (Pose3::*transform)(const Point3& p, OptionalJacobian<3, 6> Dpose,
OptionalJacobian<3, 3> Dpoint) const = &Pose3::transform_to;
return Point3_(x, transform, p);
} }
// Projection // Projection