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Fixed -> Matrix

release/4.3a0
Mike Bosse 2014-12-22 13:55:59 +01:00
parent 6ea60745eb
commit 628c4fbdab
1 changed files with 8 additions and 8 deletions
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16
gtsam/base/OptionalJacobian.h
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@ -39,17 +39,17 @@ class OptionalJacobian {
public: public:
/// Fixed size type /// ::Fixed size type
typedef Eigen::Matrix<double, Rows, Cols> Fixed; typedef Eigen::Matrix<double, Rows, Cols> Matrix;
private: private:
Eigen::Map<Fixed> map_; /// View on constructor argument, if given Eigen::Map<Matrix> map_; /// View on constructor argument, if given
// Trick from http://eigen.tuxfamily.org/dox/group__TutorialMapClass.html // Trick from http://eigen.tuxfamily.org/dox/group__TutorialMapClass.html
// uses "placement new" to make map_ usurp the memory of the fixed size matrix // uses "placement new" to make map_ usurp the memory of the fixed size matrix
void usurp(double* data, int rows, int cols) { void usurp(double* data, int rows, int cols) {
new (&map_) Eigen::Map<Fixed>(data, rows, cols); new (&map_) Eigen::Map<Matrix>(data, rows, cols);
} }
public: public:
@ -60,13 +60,13 @@ public:
} }
/// Constructor that will usurp data of a fixed-size matrix /// Constructor that will usurp data of a fixed-size matrix
OptionalJacobian(Fixed& fixed) : OptionalJacobian(Matrix& fixed) :
map_(NULL) { map_(NULL) {
usurp(fixed.data(), fixed.rows(), fixed.cols()); usurp(fixed.data(), fixed.rows(), fixed.cols());
} }
/// Constructor that will usurp data of a fixed-size matrix, pointer version /// Constructor that will usurp data of a fixed-size matrix, pointer version
OptionalJacobian(Fixed* fixedPtr) : OptionalJacobian(Matrix* fixedPtr) :
map_(NULL) { map_(NULL) {
if (fixedPtr) if (fixedPtr)
usurp(fixedPtr->data(), fixedPtr->rows(), fixedPtr->cols()); usurp(fixedPtr->data(), fixedPtr->rows(), fixedPtr->cols());
@ -104,12 +104,12 @@ public:
} }
/// De-reference, like boost optional /// De-reference, like boost optional
Eigen::Map<Fixed>& operator*() { Eigen::Map<Matrix>& operator*() {
return map_; return map_;
} }
/// TODO: operator->() /// TODO: operator->()
Eigen::Map<Fixed>* operator->(){ return &map_; } Eigen::Map<Matrix>* operator->(){ return &map_; }
}; };
// The pure dynamic specialization of this is needed to support // The pure dynamic specialization of this is needed to support