12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Renamed entry point to startReverseAD to emphasize it is only called once

release/4.3a0
dellaert 2014-10-09 13:42:43 +02:00
parent 563c4d214c
commit 5e5457b390
2 changed files with 13 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
gtsam_unstable/nonlinear/Expression-inl.h
View File

@ -74,13 +74,17 @@ struct JacobianTrace {
type = Function;
content.ptr = trace;
}
// Either insert identity into Jacobians (Leaf) or propagate (Function)
void reverseAD(JacobianMap& jacobians) const {
// *** This is the main entry point for reverseAD, called from Expression::augmented ***
// Called only once, either inserts identity into Jacobians (Leaf) or starts AD (Function)
void startReverseAD(JacobianMap& jacobians) const {
if (type == Leaf) {
// This branch will only be called on trivial Leaf expressions, i.e. Priors
size_t n = T::Dim();
jacobians[content.key] = Eigen::MatrixXd::Identity(n, n);
} else if (type == Function)
content.ptr->reverseAD(jacobians);
// This is the more typical entry point, starting the AD pipeline
// It is inside the startReverseAD that the correctly dimensioned pipeline is chosen.
content.ptr->startReverseAD(jacobians);
}
// Either add to Jacobians (Leaf) or propagate (Function)
void reverseAD(const Matrix& dTdA, JacobianMap& jacobians) const {
@ -109,7 +113,7 @@ struct JacobianTrace {
/// Make sure destructor is virtual
virtual ~JacobianTrace() {
}
virtual void reverseAD(JacobianMap& jacobians) const = 0;
virtual void startReverseAD(JacobianMap& jacobians) const = 0;
virtual void reverseAD(const Matrix& dFdT, JacobianMap& jacobians) const = 0;
virtual void reverseAD2(const Jacobian2T& dFdT,
JacobianMap& jacobians) const = 0;
@ -137,7 +141,7 @@ struct Select<2, A> {
//template <class Derived>
//struct TypedTrace {
// virtual void reverseAD(JacobianMap& jacobians) const = 0;
// virtual void startReverseAD(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 {
@ -424,7 +428,7 @@ public:
JacobianTA dTdA1;
/// Start the reverse AD process
virtual void reverseAD(JacobianMap& jacobians) const {
virtual void startReverseAD(JacobianMap& jacobians) const {
Select<T::dimension, A1>::reverseAD(trace1, dTdA1, jacobians);
}
/// Given df/dT, multiply in dT/dA and continue reverse AD process
@ -515,7 +519,7 @@ public:
JacobianTA2 dTdA2;
/// Start the reverse AD process
virtual void reverseAD(JacobianMap& jacobians) const {
virtual void startReverseAD(JacobianMap& jacobians) const {
Select<T::dimension, A1>::reverseAD(trace1, dTdA1, jacobians);
Select<T::dimension, A2>::reverseAD(trace2, dTdA2, jacobians);
}
@ -625,7 +629,7 @@ public:
JacobianTA3 dTdA3;
/// Start the reverse AD process
virtual void reverseAD(JacobianMap& jacobians) const {
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);

2
gtsam_unstable/nonlinear/Expression.h
View File

@ -120,7 +120,7 @@ public:
typename JacobianTrace<T>::Pointer pointer;
T value = root_->traceExecution(values,pointer);
Augmented<T> augmented(value);
pointer.reverseAD(augmented.jacobians());
pointer.startReverseAD(augmented.jacobians());
return augmented;
#else
return root_->forward(values);