From 3bce2344032e1807793332176fc6b50e95fdaa4c Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Sun, 10 May 2015 02:23:52 -0400
Subject: [PATCH] move ExpressionNode to seperate .f file

---
 gtsam/nonlinear/Expression-inl.h | 64 +----------------------
 gtsam/nonlinear/ExpressionNode.h | 87 ++++++++++++++++++++++++++++++++
 2 files changed, 88 insertions(+), 63 deletions(-)
 create mode 100644 gtsam/nonlinear/ExpressionNode.h

diff --git a/gtsam/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h
index 936691166..174fc31a6 100644
--- a/gtsam/nonlinear/Expression-inl.h
+++ b/gtsam/nonlinear/Expression-inl.h
@@ -19,6 +19,7 @@
 
 #pragma once
 
+#include <gtsam/nonlinear/ExpressionNode.h>
 #include <gtsam/nonlinear/CallRecord.h>
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/base/Lie.h>
@@ -193,69 +194,6 @@ public:
   typedef ExecutionTrace<T> type;
 };
 
-//-----------------------------------------------------------------------------
-// ExpressionNode.h
-//-----------------------------------------------------------------------------
-
-/**
- * Expression node. The superclass for objects that do the heavy lifting
- * An Expression<T> has a pointer to an ExpressionNode<T> underneath
- * allowing Expressions to have polymorphic behaviour even though they
- * are passed by value. This is the same way boost::function works.
- * http://loki-lib.sourceforge.net/html/a00652.html
- */
-template<class T>
-class ExpressionNode {
-
-protected:
-
-  size_t traceSize_;
-
-  /// Constructor, traceSize is size of the execution trace of expression rooted here
-  ExpressionNode(size_t traceSize = 0) :
-      traceSize_(traceSize) {
-  }
-
-public:
-
-  /// Destructor
-  virtual ~ExpressionNode() {
-  }
-
-  /// Streaming
-  GTSAM_EXPORT
-  friend std::ostream &operator<<(std::ostream &os,
-      const ExpressionNode& node) {
-    os << "Expression of type " << typeid(T).name();
-    if (node.traceSize_ > 0)
-      os << ", trace size = " << node.traceSize_;
-    os << "\n";
-    return os;
-  }
-
-  /// Return keys that play in this expression as a set
-  virtual std::set<Key> keys() const {
-    std::set<Key> keys;
-    return keys;
-  }
-
-  /// Return dimensions for each argument, as a map
-  virtual void dims(std::map<Key, int>& map) const {
-  }
-
-  // Return size needed for memory buffer in traceExecution
-  size_t traceSize() const {
-    return traceSize_;
-  }
-
-  /// Return value
-  virtual T value(const Values& values) const = 0;
-
-  /// Construct an execution trace for reverse AD
-  virtual T traceExecution(const Values& values, ExecutionTrace<T>& trace,
-      ExecutionTraceStorage* traceStorage) const = 0;
-};
-
 //-----------------------------------------------------------------------------
 /// Constant Expression
 template<class T>
diff --git a/gtsam/nonlinear/ExpressionNode.h b/gtsam/nonlinear/ExpressionNode.h
new file mode 100644
index 000000000..465cab013
--- /dev/null
+++ b/gtsam/nonlinear/ExpressionNode.h
@@ -0,0 +1,87 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file ExpressionNode.h
+ * @date May 10, 2015
+ * @author Frank Dellaert
+ * @author Paul Furgale
+ * @brief ExpressionNode class
+ */
+
+#pragma once
+
+#include <ostream>
+#include <map>
+
+
+namespace gtsam {
+
+/**
+ * Expression node. The superclass for objects that do the heavy lifting
+ * An Expression<T> has a pointer to an ExpressionNode<T> underneath
+ * allowing Expressions to have polymorphic behaviour even though they
+ * are passed by value. This is the same way boost::function works.
+ * http://loki-lib.sourceforge.net/html/a00652.html
+ */
+template<class T>
+class ExpressionNode {
+
+protected:
+
+  size_t traceSize_;
+
+  /// Constructor, traceSize is size of the execution trace of expression rooted here
+  ExpressionNode(size_t traceSize = 0) :
+      traceSize_(traceSize) {
+  }
+
+public:
+
+  /// Destructor
+  virtual ~ExpressionNode() {
+  }
+
+  /// Streaming
+  GTSAM_EXPORT
+  friend std::ostream &operator<<(std::ostream &os,
+      const ExpressionNode& node) {
+    os << "Expression of type " << typeid(T).name();
+    if (node.traceSize_ > 0)
+      os << ", trace size = " << node.traceSize_;
+    os << "\n";
+    return os;
+  }
+
+  /// Return keys that play in this expression as a set
+  virtual std::set<Key> keys() const {
+    std::set<Key> keys;
+    return keys;
+  }
+
+  /// Return dimensions for each argument, as a map
+  virtual void dims(std::map<Key, int>& map) const {
+  }
+
+  // Return size needed for memory buffer in traceExecution
+  size_t traceSize() const {
+    return traceSize_;
+  }
+
+  /// Return value
+  virtual T value(const Values& values) const = 0;
+
+  /// Construct an execution trace for reverse AD
+  virtual T traceExecution(const Values& values, ExecutionTrace<T>& trace,
+      ExecutionTraceStorage* traceStorage) const = 0;
+};
+
+}