From 6fb10a5de9d89abf6be1756f009ea371bc112251 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Fri, 3 Oct 2014 21:13:34 +0200
Subject: [PATCH] Rename, emphasizing is forward AD

---
 gtsam_unstable/nonlinear/Expression-inl.h | 16 ++++++++--------
 gtsam_unstable/nonlinear/Expression.h     |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/gtsam_unstable/nonlinear/Expression-inl.h b/gtsam_unstable/nonlinear/Expression-inl.h
index 15a88a051..3cb735b6e 100644
--- a/gtsam_unstable/nonlinear/Expression-inl.h
+++ b/gtsam_unstable/nonlinear/Expression-inl.h
@@ -135,7 +135,7 @@ public:
   virtual T value(const Values& values) const = 0;
 
   /// Return value and derivatives
-  virtual Augmented<T> augmented(const Values& values) const = 0;
+  virtual Augmented<T> forward(const Values& values) const = 0;
 
 };
 
@@ -172,7 +172,7 @@ public:
   }
 
   /// Return value and derivatives
-  virtual Augmented<T> augmented(const Values& values) const {
+  virtual Augmented<T> forward(const Values& values) const {
     T t = value(values);
     return Augmented<T>(t);
   }
@@ -213,7 +213,7 @@ public:
   }
 
   /// Return value and derivatives
-  virtual Augmented<T> augmented(const Values& values) const {
+  virtual Augmented<T> forward(const Values& values) const {
     T t = value(values);
     return Augmented<T>(t, key_);
   }
@@ -258,9 +258,9 @@ public:
   }
 
   /// Return value and derivatives
-  virtual Augmented<T> augmented(const Values& values) const {
+  virtual Augmented<T> forward(const Values& values) const {
     using boost::none;
-    Augmented<A> argument = this->expressionA_->augmented(values);
+    Augmented<A> argument = this->expressionA_->forward(values);
     Matrix H;
     T t = function_(argument.value(),
         argument.constant() ? none : boost::optional<Matrix&>(H));
@@ -317,10 +317,10 @@ public:
   }
 
   /// Return value and derivatives
-  virtual Augmented<T> augmented(const Values& values) const {
+  virtual Augmented<T> forward(const Values& values) const {
     using boost::none;
-    Augmented<A1> argument1 = this->expressionA1_->augmented(values);
-    Augmented<A2> argument2 = this->expressionA2_->augmented(values);
+    Augmented<A1> argument1 = this->expressionA1_->forward(values);
+    Augmented<A2> argument2 = this->expressionA2_->forward(values);
     Matrix H1, H2;
     T t = function_(argument1.value(), argument2.value(),
         argument1.constant() ? none : boost::optional<Matrix&>(H1),
diff --git a/gtsam_unstable/nonlinear/Expression.h b/gtsam_unstable/nonlinear/Expression.h
index 3686195e0..27f51893c 100644
--- a/gtsam_unstable/nonlinear/Expression.h
+++ b/gtsam_unstable/nonlinear/Expression.h
@@ -103,7 +103,7 @@ public:
 
   /// Return value and derivatives
   Augmented<T> augmented(const Values& values) const {
-    return root_->augmented(values);
+    return root_->forward(values);
   }
 
   const boost::shared_ptr<ExpressionNode<T> >& root() const {