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

- some small cleanup and improved readability. 

- virtual overload warnings should not be issued anymore
release/4.3a0
HannesSommer 2014-11-21 21:13:24 +01:00
parent f699dd26bb
commit 6d0c1a44e1
1 changed files with 32 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

55
gtsam_unstable/nonlinear/CallRecord.h
View File

@ -67,9 +67,8 @@ struct ConvertToDynamicRowsIf<false> {
* with Rows in 1..MaxSupportedStaticRows
*/
template<int MaxSupportedStaticRows, int Cols>
struct ReverseADInterface: public ReverseADInterface<MaxSupportedStaticRows - 1,
struct ReverseADInterface: ReverseADInterface<MaxSupportedStaticRows - 1,
Cols> {
protected:
using ReverseADInterface<MaxSupportedStaticRows - 1, Cols>::_reverseAD;
virtual void _reverseAD(
const Eigen::Matrix<double, MaxSupportedStaticRows, Cols> & dFdT,
@ -78,10 +77,15 @@ protected:
template<int Cols>
struct ReverseADInterface<0, Cols> {
protected:
void _reverseAD() {
} //dummy to allow the using directive in the template without failing for MaxSupportedStaticRows == 1.
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
virtual void _reverseAD(const Matrix & dFdT,
JacobianMap& jacobians) const = 0;
};
template<typename Derived, int MaxSupportedStaticRows, int Cols>
struct ReverseADImplementor; // forward for CallRecord's friend declaration
}
/**
@ -115,15 +119,12 @@ struct CallRecord: private internal::ReverseADInterface<MaxVirtualStaticRows,
}
private:
using internal::ReverseADInterface<MaxVirtualStaticRows, Cols>::_reverseAD;
virtual void _print(const std::string& indent) const = 0;
virtual void _startReverseAD(JacobianMap& jacobians) const = 0;
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const = 0;
virtual void _reverseAD(const Matrix & dFdT,
JacobianMap& jacobians) const = 0;
using internal::ReverseADInterface<MaxVirtualStaticRows,
Cols>::_reverseAD;
template<typename Derived, int MaxSupportedStaticRows, int OtherCols>
friend struct internal::ReverseADImplementor;
};
namespace internal {
@ -136,17 +137,33 @@ template<typename Derived, int MaxSupportedStaticRows, int Cols>
struct ReverseADImplementor: ReverseADImplementor<Derived,
MaxSupportedStaticRows - 1, Cols> {
protected:
private:
using ReverseADImplementor<Derived,
MaxSupportedStaticRows - 1, Cols>::_reverseAD;
virtual void _reverseAD(
const Eigen::Matrix<double, MaxSupportedStaticRows, Cols> & dFdT,
JacobianMap& jacobians) const {
static_cast<const Derived *>(this)->reverseAD(dFdT, jacobians);
}
friend struct internal::ReverseADImplementor<Derived, MaxSupportedStaticRows + 1, Cols>;
};
template<typename Derived, int Cols>
struct ReverseADImplementor<Derived, 0, Cols> : CallRecord<Cols> {
private:
using CallRecord<Cols>::_reverseAD;
const Derived & derived() const {
return static_cast<const Derived&>(*this);
}
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
friend struct internal::ReverseADImplementor<Derived, 1, Cols>;
};
/**
@ -154,7 +171,7 @@ struct ReverseADImplementor<Derived, 0, Cols> : CallRecord<Cols> {
* delegating to its corresponding (templated) non-virtual methods.
*/
template<typename Derived, int Cols>
struct CallRecordImplementor: public ReverseADImplementor<Derived,
struct CallRecordImplementor: ReverseADImplementor<Derived,
MaxVirtualStaticRows, Cols> {
private:
const Derived & derived() const {
@ -166,14 +183,6 @@ private:
virtual void _startReverseAD(JacobianMap& jacobians) const {
derived().startReverseAD(jacobians);
}
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
};
} // internal