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reverted extra spaces which were added in last commit

release/4.3a0
Renaud Dube 2014-11-07 12:11:08 +01:00
parent bd3f9db7df
commit 90ec6b1452
1 changed files with 52 additions and 58 deletions
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38
gtsam_unstable/nonlinear/Expression-inl.h
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@ -58,7 +58,7 @@ class Expression;
class JacobianMap { class JacobianMap {
const FastVector<Key>& keys_; const FastVector<Key>& keys_;
VerticalBlockMatrix& Ab_; VerticalBlockMatrix& Ab_;
public: public:
JacobianMap(const FastVector<Key>& keys, VerticalBlockMatrix& Ab) : JacobianMap(const FastVector<Key>& keys, VerticalBlockMatrix& Ab) :
keys_(keys), Ab_(Ab) { keys_(keys), Ab_(Ab) {
} }
@ -98,12 +98,7 @@ struct CallRecord {
template<int ROWS, int COLS> template<int ROWS, int COLS>
void handleLeafCase(const Eigen::Matrix<double, ROWS, COLS>& dTdA, void handleLeafCase(const Eigen::Matrix<double, ROWS, COLS>& dTdA,
JacobianMap& jacobians, Key key) { JacobianMap& jacobians, Key key) {
// if (ROWS == -1 && COLS == -1 ) {
// jacobians(key) += dTdA;
// } else {
jacobians(key).block < ROWS, COLS > (0, 0) += dTdA; // block makes HUGE difference jacobians(key).block < ROWS, COLS > (0, 0) += dTdA; // block makes HUGE difference
// }
} }
/// Handle Leaf Case for Dynamic Matrix type (slower) /// Handle Leaf Case for Dynamic Matrix type (slower)
template<> template<>
@ -145,7 +140,7 @@ class ExecutionTrace {
Key key; Key key;
CallRecord<Dim>* ptr; CallRecord<Dim>* ptr;
} content; } content;
public: public:
/// Pointer always starts out as a Constant /// Pointer always starts out as a Constant
ExecutionTrace() : ExecutionTrace() :
kind(Constant) { kind(Constant) {
@ -247,7 +242,7 @@ struct Select<2, A> {
template<class T> template<class T>
class ExpressionNode { class ExpressionNode {
protected: protected:
size_t traceSize_; size_t traceSize_;
@ -256,7 +251,7 @@ class ExpressionNode {
traceSize_(traceSize) { traceSize_(traceSize) {
} }
public: public:
/// Destructor /// Destructor
virtual ~ExpressionNode() { virtual ~ExpressionNode() {
@ -300,7 +295,7 @@ class ConstantExpression: public ExpressionNode<T> {
friend class Expression<T> ; friend class Expression<T> ;
public: public:
/// Return value /// Return value
virtual T value(const Values& values) const { virtual T value(const Values& values) const {
@ -331,7 +326,7 @@ class LeafExpression: public ExpressionNode<T> {
friend class Expression<value_type> ; friend class Expression<value_type> ;
public: public:
/// Return keys that play in this expression /// Return keys that play in this expression
virtual std::set<Key> keys() const { virtual std::set<Key> keys() const {
@ -377,7 +372,7 @@ class LeafExpression<T, DefaultChart<T> >: public ExpressionNode<T> {
friend class Expression<T> ; friend class Expression<T> ;
public: public:
/// Return keys that play in this expression /// Return keys that play in this expression
virtual std::set<Key> keys() const { virtual std::set<Key> keys() const {
@ -628,13 +623,13 @@ struct FunctionalNode {
template<class T, class A1> template<class T, class A1>
class UnaryExpression: public FunctionalNode<T, boost::mpl::vector<A1> >::type { class UnaryExpression: public FunctionalNode<T, boost::mpl::vector<A1> >::type {
public: public:
typedef boost::function<T(const A1&, typename OptionalJacobian<T, A1>::type)> Function; typedef boost::function<T(const A1&, typename OptionalJacobian<T, A1>::type)> Function;
typedef typename FunctionalNode<T, boost::mpl::vector<A1> >::type Base; typedef typename FunctionalNode<T, boost::mpl::vector<A1> >::type Base;
typedef typename Base::Record Record; typedef typename Base::Record Record;
private: private:
Function function_; Function function_;
@ -647,7 +642,7 @@ class UnaryExpression: public FunctionalNode<T, boost::mpl::vector<A1> >::type {
friend class Expression<T> ; friend class Expression<T> ;
public: public:
/// Return value /// Return value
virtual T value(const Values& values) const { virtual T value(const Values& values) const {
@ -672,7 +667,7 @@ class UnaryExpression: public FunctionalNode<T, boost::mpl::vector<A1> >::type {
template<class T, class A1, class A2> template<class T, class A1, class A2>
class BinaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2> >::type { class BinaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2> >::type {
public: public:
typedef boost::function< typedef boost::function<
T(const A1&, const A2&, typename OptionalJacobian<T, A1>::type, T(const A1&, const A2&, typename OptionalJacobian<T, A1>::type,
@ -680,7 +675,7 @@ class BinaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2> >::t
typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2> >::type Base; typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2> >::type Base;
typedef typename Base::Record Record; typedef typename Base::Record Record;
private: private:
Function function_; Function function_;
@ -697,7 +692,7 @@ class BinaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2> >::t
friend class Expression<T> ; friend class Expression<T> ;
friend class ::ExpressionFactorBinaryTest; friend class ::ExpressionFactorBinaryTest;
public: public:
/// Return value /// Return value
virtual T value(const Values& values) const { virtual T value(const Values& values) const {
@ -726,7 +721,7 @@ class BinaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2> >::t
template<class T, class A1, class A2, class A3> template<class T, class A1, class A2, class A3>
class TernaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type { class TernaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type {
public: public:
typedef boost::function< typedef boost::function<
T(const A1&, const A2&, const A3&, typename OptionalJacobian<T, A1>::type, T(const A1&, const A2&, const A3&, typename OptionalJacobian<T, A1>::type,
@ -734,7 +729,7 @@ class TernaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2, A3>
typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type Base; typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type Base;
typedef typename Base::Record Record; typedef typename Base::Record Record;
private: private:
Function function_; Function function_;
@ -751,7 +746,7 @@ class TernaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2, A3>
friend class Expression<T> ; friend class Expression<T> ;
public: public:
/// Return value /// Return value
virtual T value(const Values& values) const { virtual T value(const Values& values) const {
@ -778,4 +773,3 @@ class TernaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2, A3>
}; };
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
} }