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

Comments

release/4.3a0
dellaert 2014-10-13 11:55:16 +02:00
parent 74269902d7
commit c11d7885e1
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam_unstable/nonlinear/Expression-inl.h
View File

@ -552,10 +552,16 @@ struct GenerateFunctionalNode: Argument<T, A, Base::N + 1>, Base {
/// Construct an execution trace for reverse AD /// Construct an execution trace for reverse AD
void trace(const Values& values, Record* record, char*& raw) const { void trace(const Values& values, Record* record, char*& raw) const {
Base::trace(values, record, raw); Base::trace(values, record, raw); // recurse
// Write an Expression<A> execution trace in record->trace
// Iff Constant or Leaf, this will not write to raw, only to trace.
// Iff the expression is functional, write all Records in raw buffer
// Return value of type T is recorded in record->value
record->Record::This::value = This::expression->traceExecution(values, record->Record::This::value = This::expression->traceExecution(values,
record->Record::This::trace, raw); record->Record::This::trace, raw);
raw = raw + This::expression->traceSize(); // raw is never modified by traceExecution, but if traceExecution has
// written in the buffer, the next caller expects we advance the pointer
raw += This::expression->traceSize();
} }
}; };
@ -590,12 +596,6 @@ struct FunctionalNode {
return static_cast<JacobianTrace<T, A, N> const &>(*this).value; return static_cast<JacobianTrace<T, A, N> const &>(*this).value;
} }
/// Access Trace
template<class A, size_t N>
ExecutionTrace<A>& trace() {
return static_cast<JacobianTrace<T, A, N>&>(*this).trace;
}
/// Access Jacobian /// Access Jacobian
template<class A, size_t N> template<class A, size_t N>
typename Jacobian<T, A>::type& jacobian() { typename Jacobian<T, A>::type& jacobian() {