From 376c9e409d8a2efd6fa57b4a3dd77c2c72b80e57 Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Wed, 6 May 2015 14:50:01 -0400
Subject: [PATCH] move some Expression implementations to include header

---
 gtsam/nonlinear/Expression-inl.h | 42 ++++++++++++++++++++++++++++++++
 gtsam/nonlinear/Expression.h     | 27 ++++----------------
 2 files changed, 47 insertions(+), 22 deletions(-)

diff --git a/gtsam/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h
index 3267e20be..936691166 100644
--- a/gtsam/nonlinear/Expression-inl.h
+++ b/gtsam/nonlinear/Expression-inl.h
@@ -931,6 +931,48 @@ Expression<T>::Expression(
             expression3)) {
 }
 
+
+/// Return root
+template<typename T>
+const boost::shared_ptr<ExpressionNode<T> >& Expression<T>::root() const {
+  return root_;
+}
+
+// Return size needed for memory buffer in traceExecution
+template<typename T>
+size_t Expression<T>::traceSize() const {
+  return root_->traceSize();
+}
+
+/// Return keys that play in this expression
+template<typename T>
+std::set<Key> Expression<T>::keys() const {
+  return root_->keys();
+}
+
+/// Return dimensions for each argument, as a map
+template<typename T>
+void Expression<T>::dims(std::map<Key, int>& map) const {
+  root_->dims(map);
+}
+
+/**
+ * @brief Return value and optional derivatives, reverse AD version
+ * Notes: this is not terribly efficient, and H should have correct size.
+ * The order of the Jacobians is same as keys in either keys() or dims()
+ */
+template<typename T>
+T Expression<T>::value(const Values& values, boost::optional<std::vector<Matrix>&> H) const {
+
+  if (H) {
+    // Call private version that returns derivatives in H
+    KeysAndDims pair = keysAndDims();
+    return value(values, pair.first, pair.second, *H);
+  } else
+    // no derivatives needed, just return value
+    return root_->value(values);
+}
+
 /// private version that takes keys and dimensions, returns derivatives
 template<typename T>
 T Expression<T>::value(const Values& values, const FastVector<Key>& keys,
diff --git a/gtsam/nonlinear/Expression.h b/gtsam/nonlinear/Expression.h
index 1c4331de8..c400fbe12 100644
--- a/gtsam/nonlinear/Expression.h
+++ b/gtsam/nonlinear/Expression.h
@@ -144,24 +144,16 @@ public:
       const Expression<A3>& expression3);
 
   /// Return root
-  const boost::shared_ptr<ExpressionNode<T> >& root() const {
-    return root_;
-  }
+  const boost::shared_ptr<ExpressionNode<T> >& root() const;
 
   // Return size needed for memory buffer in traceExecution
-  size_t traceSize() const {
-    return root_->traceSize();
-  }
+  size_t traceSize() const;
 
   /// Return keys that play in this expression
-  std::set<Key> keys() const {
-    return root_->keys();
-  }
+  std::set<Key> keys() const;
 
   /// Return dimensions for each argument, as a map
-  void dims(std::map<Key, int>& map) const {
-    root_->dims(map);
-  }
+  void dims(std::map<Key, int>& map) const;
 
   /**
    * @brief Return value and optional derivatives, reverse AD version
@@ -169,16 +161,7 @@ public:
    * The order of the Jacobians is same as keys in either keys() or dims()
    */
   T value(const Values& values, boost::optional<std::vector<Matrix>&> H =
-      boost::none) const {
-
-    if (H) {
-      // Call private version that returns derivatives in H
-      KeysAndDims pair = keysAndDims();
-      return value(values, pair.first, pair.second, *H);
-    } else
-      // no derivatives needed, just return value
-      return root_->value(values);
-  }
+      boost::none) const;
 
   /**
    *  @return a "deep" copy of this Expression