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Ternary works, same caveat

release/4.3a0
dellaert 2014-10-10 13:33:13 +02:00
parent 406467e341
commit 58bbce482d
1 changed files with 11 additions and 33 deletions
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44
gtsam_unstable/nonlinear/Expression-inl.h
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@ -647,45 +647,23 @@ public:
} }
/// Trace structure for reverse AD /// Trace structure for reverse AD
struct Trace: public JacobianTrace<T> { typedef boost::mpl::vector<A1, A2, A3> Arguments;
typename JacobianTrace<A1>::Pointer trace1; typedef typename GenerateTrace<T, Arguments>::type Trace;
typename JacobianTrace<A2>::Pointer trace2;
typename JacobianTrace<A3>::Pointer trace3;
JacobianTA1 dTdA1;
JacobianTA2 dTdA2;
JacobianTA3 dTdA3;
/// Start the reverse AD process
virtual void startReverseAD(JacobianMap& jacobians) const {
Select<T::dimension, A1>::reverseAD(trace1, dTdA1, jacobians);
Select<T::dimension, A2>::reverseAD(trace2, dTdA2, jacobians);
Select<T::dimension, A3>::reverseAD(trace3, dTdA3, jacobians);
}
/// Given df/dT, multiply in dT/dA and continue reverse AD process
virtual void reverseAD(const Matrix& dFdT, JacobianMap& jacobians) const {
trace1.reverseAD(dFdT * dTdA1, jacobians);
trace2.reverseAD(dFdT * dTdA2, jacobians);
trace3.reverseAD(dFdT * dTdA3, jacobians);
}
/// Version specialized to 2-dimensional output
typedef Eigen::Matrix<double, 2, T::dimension> Jacobian2T;
virtual void reverseAD2(const Jacobian2T& dFdT,
JacobianMap& jacobians) const {
trace1.reverseAD2(dFdT * dTdA1, jacobians);
trace2.reverseAD2(dFdT * dTdA2, jacobians);
trace3.reverseAD2(dFdT * dTdA3, jacobians);
}
};
/// Construct an execution trace for reverse AD /// Construct an execution trace for reverse AD
virtual T traceExecution(const Values& values, virtual T traceExecution(const Values& values,
typename JacobianTrace<T>::Pointer& p) const { typename JacobianTrace<T>::Pointer& p) const {
Trace* trace = new Trace(); Trace* trace = new Trace();
p.setFunction(trace); p.setFunction(trace);
A1 a1 = this->expressionA1_->traceExecution(values, trace->trace1); A1 a1 = this->expressionA1_->traceExecution(values,
A2 a2 = this->expressionA2_->traceExecution(values, trace->trace2); static_cast<SingleTrace<T, A1>*>(trace)->trace);
A3 a3 = this->expressionA3_->traceExecution(values, trace->trace3); A2 a2 = this->expressionA2_->traceExecution(values,
return function_(a1, a2, a3, trace->dTdA1, trace->dTdA2, trace->dTdA3); static_cast<SingleTrace<T, A2>*>(trace)->trace);
A3 a3 = this->expressionA3_->traceExecution(values,
static_cast<SingleTrace<T, A3>*>(trace)->trace);
return function_(a1, a2, a3, static_cast<SingleTrace<T, A1>*>(trace)->dTdA,
static_cast<SingleTrace<T, A2>*>(trace)->dTdA,
static_cast<SingleTrace<T, A3>*>(trace)->dTdA);
} }
}; };