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

virtual inheritance for better readability and decoupling

release/4.3a0
HannesSommer 2014-11-21 22:18:50 +01:00
parent b4fe033d12
commit 87ea6341f2
1 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam_unstable/nonlinear/CallRecord.h
View File

@ -96,7 +96,7 @@ struct ReverseADImplementor; // forward for CallRecord's friend declaration
* It is implemented in the function-style ExpressionNode's nested Record class below. * It is implemented in the function-style ExpressionNode's nested Record class below.
*/ */
template<int Cols> template<int Cols>
struct CallRecord: private internal::ReverseADInterface<MaxVirtualStaticRows, struct CallRecord: virtual private internal::ReverseADInterface<MaxVirtualStaticRows,
Cols> { Cols> {
inline void print(const std::string& indent) const { inline void print(const std::string& indent) const {
@ -154,9 +154,10 @@ private:
}; };
template<typename Derived, int Cols> template<typename Derived, int Cols>
struct ReverseADImplementor<Derived, 0, Cols> : CallRecord<Cols> { struct ReverseADImplementor<Derived, 0, Cols>
: virtual internal::ReverseADInterface<MaxVirtualStaticRows, Cols> {
private: private:
using CallRecord<Cols>::_reverseAD; using internal::ReverseADInterface<MaxVirtualStaticRows, Cols>::_reverseAD;
const Derived & derived() const { const Derived & derived() const {
return static_cast<const Derived&>(*this); return static_cast<const Derived&>(*this);
} }
@ -177,7 +178,7 @@ private:
*/ */
template<typename Derived, int Cols> template<typename Derived, int Cols>
struct CallRecordImplementor: ReverseADImplementor<Derived, struct CallRecordImplementor: ReverseADImplementor<Derived,
MaxVirtualStaticRows, Cols> { MaxVirtualStaticRows, Cols>, CallRecord<Cols>{
private: private:
const Derived & derived() const { const Derived & derived() const {
return static_cast<const Derived&>(*this); return static_cast<const Derived&>(*this);