inlined a fully specialized function template defined in a .hpp

gtsam_unstable/nonlinear/Expression-inl.h

@@ -58,7 +58,7 @@ class Expression;
 class JacobianMap {
   const FastVector<Key>& keys_;
   VerticalBlockMatrix& Ab_;
-public:
+ public:
   JacobianMap(const FastVector<Key>& keys, VerticalBlockMatrix& Ab) :
     keys_(keys), Ab_(Ab) {
   }
@@ -98,11 +98,16 @@ struct CallRecord {
 template<int ROWS, int COLS>
 void handleLeafCase(const Eigen::Matrix<double, ROWS, COLS>& dTdA,
                     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
+//  }
+
 }
 /// Handle Leaf Case for Dynamic Matrix type (slower)
 template<>
-void handleLeafCase(
+inline void handleLeafCase(
     const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>& dTdA,
     JacobianMap& jacobians, Key key) {
   jacobians(key) += dTdA;
@@ -140,7 +145,7 @@ class ExecutionTrace {
     Key key;
     CallRecord<Dim>* ptr;
   } content;
-public:
+ public:
   /// Pointer always starts out as a Constant
   ExecutionTrace() :
     kind(Constant) {
@@ -242,7 +247,7 @@ struct Select<2, A> {
 template<class T>
 class ExpressionNode {
 
-protected:
+ protected:
 
   size_t traceSize_;
 
@@ -251,7 +256,7 @@ protected:
     traceSize_(traceSize) {
   }
 
-public:
+ public:
 
   /// Destructor
   virtual ~ExpressionNode() {
@@ -295,7 +300,7 @@ class ConstantExpression: public ExpressionNode<T> {
 
   friend class Expression<T> ;
 
-public:
+ public:
 
   /// Return value
   virtual T value(const Values& values) const {
@@ -326,7 +331,7 @@ class LeafExpression: public ExpressionNode<T> {
 
   friend class Expression<value_type> ;
 
-public:
+ public:
 
   /// Return keys that play in this expression
   virtual std::set<Key> keys() const {
@@ -372,7 +377,7 @@ class LeafExpression<T, DefaultChart<T> >: public ExpressionNode<T> {
 
   friend class Expression<T> ;
 
-public:
+ public:
 
   /// Return keys that play in this expression
   virtual std::set<Key> keys() const {
@@ -623,13 +628,13 @@ struct FunctionalNode {
 template<class T, class A1>
 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 typename FunctionalNode<T, boost::mpl::vector<A1> >::type Base;
   typedef typename Base::Record Record;
 
-private:
+ private:
 
   Function function_;
 
@@ -642,7 +647,7 @@ private:
 
   friend class Expression<T> ;
 
-public:
+ public:
 
   /// Return value
   virtual T value(const Values& values) const {
@@ -667,7 +672,7 @@ public:
 template<class T, class A1, class A2>
 class BinaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2> >::type {
 
-public:
+ public:
 
   typedef boost::function<
       T(const A1&, const A2&, typename OptionalJacobian<T, A1>::type,
@@ -675,7 +680,7 @@ public:
   typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2> >::type Base;
   typedef typename Base::Record Record;
 
-private:
+ private:
 
   Function function_;
 
@@ -692,7 +697,7 @@ private:
   friend class Expression<T> ;
   friend class ::ExpressionFactorBinaryTest;
 
-public:
+ public:
 
   /// Return value
   virtual T value(const Values& values) const {
@@ -721,7 +726,7 @@ public:
 template<class T, class A1, class A2, class A3>
 class TernaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type {
 
-public:
+ public:
 
   typedef boost::function<
       T(const A1&, const A2&, const A3&, typename OptionalJacobian<T, A1>::type,
@@ -729,7 +734,7 @@ public:
   typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type Base;
   typedef typename Base::Record Record;
 
-private:
+ private:
 
   Function function_;
 
@@ -746,7 +751,7 @@ private:
 
   friend class Expression<T> ;
 
-public:
+ public:
 
   /// Return value
   virtual T value(const Values& values) const {