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Put Trace in front

release/4.3a0
dellaert 2014-10-08 13:58:15 +02:00
parent ba9faa68b6
commit 390842e1f7
1 changed files with 20 additions and 20 deletions
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40
gtsam_unstable/nonlinear/Expression-inl.h
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@ -31,6 +31,26 @@ class Expression;
typedef std::map<Key, Matrix> JacobianMap; typedef std::map<Key, Matrix> JacobianMap;
//-----------------------------------------------------------------------------
struct JacobianTrace {
virtual ~JacobianTrace() {
}
virtual void reverseAD(JacobianMap& jacobians) const = 0;
virtual void reverseAD(const Matrix& dFdT, JacobianMap& jacobians) const = 0;
// template<class JacobianFT>
// void reverseAD(const JacobianFT& dFdT, JacobianMap& jacobians) const {
};
typedef JacobianTrace* TracePtr;
//template <class Derived>
//struct TypedTrace {
// virtual void reverseAD(JacobianMap& jacobians) const = 0;
// virtual void reverseAD(const Matrix& dFdT, JacobianMap& jacobians) const = 0;
//// template<class JacobianFT>
//// void reverseAD(const JacobianFT& dFdT, JacobianMap& jacobians) const {
//};
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
/** /**
* Value and Jacobians * Value and Jacobians
@ -134,26 +154,6 @@ public:
} }
}; };
//-----------------------------------------------------------------------------
struct JacobianTrace {
virtual ~JacobianTrace() {
}
virtual void reverseAD(JacobianMap& jacobians) const = 0;
virtual void reverseAD(const Matrix& dFdT, JacobianMap& jacobians) const = 0;
// template<class JacobianFT>
// void reverseAD(const JacobianFT& dFdT, JacobianMap& jacobians) const {
};
typedef JacobianTrace* TracePtr;
//template <class Derived>
//struct TypedTrace {
// virtual void reverseAD(JacobianMap& jacobians) const = 0;
// virtual void reverseAD(const Matrix& dFdT, JacobianMap& jacobians) const = 0;
//// template<class JacobianFT>
//// void reverseAD(const JacobianFT& dFdT, JacobianMap& jacobians) const {
//};
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
/** /**
* Expression node. The superclass for objects that do the heavy lifting * Expression node. The superclass for objects that do the heavy lifting