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

Rename, emphasizing is forward AD

release/4.3a0
dellaert 2014-10-03 21:13:34 +02:00
parent 3f017bf51f
commit 6fb10a5de9
2 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam_unstable/nonlinear/Expression-inl.h
View File

@ -135,7 +135,7 @@ public:
virtual T value(const Values& values) const = 0; virtual T value(const Values& values) const = 0;
/// Return value and derivatives /// 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 /// Return value and derivatives
virtual Augmented<T> augmented(const Values& values) const { virtual Augmented<T> forward(const Values& values) const {
T t = value(values); T t = value(values);
return Augmented<T>(t); return Augmented<T>(t);
} }
@ -213,7 +213,7 @@ public:
} }
/// Return value and derivatives /// Return value and derivatives
virtual Augmented<T> augmented(const Values& values) const { virtual Augmented<T> forward(const Values& values) const {
T t = value(values); T t = value(values);
return Augmented<T>(t, key_); return Augmented<T>(t, key_);
} }
@ -258,9 +258,9 @@ public:
} }
/// Return value and derivatives /// Return value and derivatives
virtual Augmented<T> augmented(const Values& values) const { virtual Augmented<T> forward(const Values& values) const {
using boost::none; using boost::none;
Augmented<A> argument = this->expressionA_->augmented(values); Augmented<A> argument = this->expressionA_->forward(values);
Matrix H; Matrix H;
T t = function_(argument.value(), T t = function_(argument.value(),
argument.constant() ? none : boost::optional<Matrix&>(H)); argument.constant() ? none : boost::optional<Matrix&>(H));
@ -317,10 +317,10 @@ public:
} }
/// Return value and derivatives /// Return value and derivatives
virtual Augmented<T> augmented(const Values& values) const { virtual Augmented<T> forward(const Values& values) const {
using boost::none; using boost::none;
Augmented<A1> argument1 = this->expressionA1_->augmented(values); Augmented<A1> argument1 = this->expressionA1_->forward(values);
Augmented<A2> argument2 = this->expressionA2_->augmented(values); Augmented<A2> argument2 = this->expressionA2_->forward(values);
Matrix H1, H2; Matrix H1, H2;
T t = function_(argument1.value(), argument2.value(), T t = function_(argument1.value(), argument2.value(),
argument1.constant() ? none : boost::optional<Matrix&>(H1), argument1.constant() ? none : boost::optional<Matrix&>(H1),

2
gtsam_unstable/nonlinear/Expression.h
View File

@ -103,7 +103,7 @@ public:
/// Return value and derivatives /// Return value and derivatives
Augmented<T> augmented(const Values& values) const { Augmented<T> augmented(const Values& values) const {
return root_->augmented(values); return root_->forward(values);
} }
const boost::shared_ptr<ExpressionNode<T> >& root() const { const boost::shared_ptr<ExpressionNode<T> >& root() const {