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inlined a fully specialized function template defined in a .hpp

release/4.3a0
Renaud Dube 2014-11-07 11:37:27 +01:00
parent a94835a2e4
commit bd3f9db7df
1 changed files with 58 additions and 53 deletions
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7
gtsam_unstable/nonlinear/Expression-inl.h
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@ -98,11 +98,16 @@ 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<>
void handleLeafCase( inline void handleLeafCase(
const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>& dTdA, const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>& dTdA,
JacobianMap& jacobians, Key key) { JacobianMap& jacobians, Key key) {
jacobians(key) += dTdA; jacobians(key) += dTdA;