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

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam_unstable/nonlinear/Expression-inl.h
View File

@ -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;