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Small change in meta-programming, big improvement in clarity

release/4.3a0
dellaert 2014-10-12 22:17:21 +02:00
parent 107bcd8bb4
commit 408be628d2
2 changed files with 13 additions and 22 deletions
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22
gtsam_unstable/nonlinear/Expression-inl.h
View File

@ -65,6 +65,7 @@ void move(JacobianMap& jacobians, std::vector<Matrix>& H) {
*/
template<int COLS>
struct CallRecord {
static size_t const N = 0;
virtual void print(const std::string& indent) const {
}
virtual void startReverseAD(JacobianMap& jacobians) const {
@ -205,12 +206,11 @@ struct Argument {
* C++ Template Metaprogramming: Concepts, Tools, and Techniques from Boost
* and Beyond. Pearson Education.
*/
template<class T, class AN, class More>
struct Record: Argument<T, typename AN::type, AN::value>, More {
template<class T, class A, class More>
struct Record: Argument<T, A, More::N+1>, More {
typedef T return_type;
typedef typename AN::type A;
const static size_t N = AN::value;
static size_t const N = More::N + 1;
typedef Argument<T, A, N> This;
/// Print to std::cout
@ -242,14 +242,6 @@ struct Record: Argument<T, typename AN::type, AN::value>, More {
}
};
/// Meta-function for generating a numbered type
template<class A, size_t N>
struct Numbered {
typedef A type;
typedef size_t value_type;
static const size_t value = N;
};
/// Recursive Record class Generator
template<class T, class TYPES>
struct GenerateRecord {
@ -559,7 +551,7 @@ public:
}
/// CallRecord structure for reverse AD
typedef boost::mpl::vector<Numbered<A1, 1> > Arguments;
typedef boost::mpl::vector<A1> Arguments;
typedef typename GenerateRecord<T, Arguments>::type Record;
/// Construct an execution trace for reverse AD
@ -636,7 +628,7 @@ public:
}
/// CallRecord structure for reverse AD
typedef boost::mpl::vector<Numbered<A1, 1>, Numbered<A2, 2> > Arguments;
typedef boost::mpl::vector<A1, A2> Arguments;
typedef typename GenerateRecord<T, Arguments>::type Record;
/// Construct an execution trace for reverse AD
@ -729,7 +721,7 @@ public:
}
/// CallRecord structure for reverse AD
typedef boost::mpl::vector<Numbered<A1, 1>, Numbered<A2, 2>, Numbered<A3, 3> > Arguments;
typedef boost::mpl::vector<A1, A2, A3> Arguments;
typedef typename GenerateRecord<T, Arguments>::type Record;
/// Construct an execution trace for reverse AD

13
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
View File

@ -262,11 +262,11 @@ TEST(ExpressionFactor, tree) {
// Compare reverse and forward
{
JacobianMap expectedMap; // via reverse
Point2 expectedValue = uv_hat.reverse(values, expectedMap);
Augmented<Point2> actual = uv_hat.forward(values);
EXPECT(assert_equal(expectedValue, actual.value()));
EXPECT(actual.jacobians() == expectedMap);
JacobianMap expectedMap; // via reverse
Point2 expectedValue = uv_hat.reverse(values, expectedMap);
Augmented<Point2> actual = uv_hat.forward(values);
EXPECT(assert_equal(expectedValue, actual.value()));
EXPECT(actual.jacobians() == expectedMap);
}
// Create factor and check value, dimension, linearization
@ -435,8 +435,7 @@ namespace mpl = boost::mpl;
#include <boost/mpl/assert.hpp>
template<class T> struct Incomplete;
typedef mpl::vector<Numbered<Pose3, 1>, Numbered<Point3, 2>,
Numbered<Cal3_S2, 3> > MyTypes;
typedef mpl::vector<Pose3, Point3, Cal3_S2> MyTypes;
typedef GenerateRecord<Point2, MyTypes>::type Generated;
//Incomplete<Generated> incomplete;
//BOOST_MPL_ASSERT((boost::is_same< Matrix25, Generated::JacobianTA >));