Now uses CallRecord.h
dellaert
parent
2983cf33a6
commit
c238e5852c
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@ -19,17 +19,16 @@
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#pragma once
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#include <gtsam_unstable/nonlinear/Callrecord.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/base/Matrix.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/Manifold.h>
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#include <gtsam/base/VerticalBlockMatrix.h>
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#include <boost/foreach.hpp>
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#include <boost/tuple/tuple.hpp>
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#include <boost/bind.hpp>
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// template meta-programming headers
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// template meta-programming headers, TODO not all needed?
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#include <boost/mpl/vector.hpp>
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#include <boost/mpl/plus.hpp>
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#include <boost/mpl/front.hpp>
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@ -40,8 +39,10 @@
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#include <boost/mpl/transform.hpp>
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#include <boost/mpl/at.hpp>
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namespace MPL = boost::mpl::placeholders;
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//
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//#include <new> // for placement new
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#include <map>
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#include <new> // for placement new
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class ExpressionFactorBinaryTest;
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// Forward declare for testing
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@ -71,121 +72,6 @@ public:
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}
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};
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//-----------------------------------------------------------------------------
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/**
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* MaxVirtualStaticRows defines how many separate virtual reverseAD with specific
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* static rows (1..MaxVirtualStaticRows) methods will be part of the CallRecord interface.
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*/
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const int MaxVirtualStaticRows = 4;
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namespace internal {
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/**
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* ConvertToDynamicIf converts to a dense matrix with dynamic rows iff ConvertToDynamicRows (colums stay as they are) otherwise
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* it just passes dense Eigen matrices through.
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*/
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template <bool ConvertToDynamicRows>
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struct ConvertToDynamicRowsIf {
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template <typename Derived>
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static Eigen::Matrix<double, Eigen::Dynamic, Derived::ColsAtCompileTime> convert(const Eigen::MatrixBase<Derived> & x){
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return x;
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}
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};
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template <>
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struct ConvertToDynamicRowsIf<false> {
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template <int Rows, int Cols>
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static const Eigen::Matrix<double, Rows, Cols> & convert(const Eigen::Matrix<double, Rows, Cols> & x){
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return x;
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}
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};
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/**
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* Recursive definition of an interface having several purely
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* virtual _reverseAD(const Eigen::Matrix<double, Rows, Cols> &, JacobianMap&)
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* with Rows in 1..MaxSupportedStaticRows
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*/
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template<int MaxSupportedStaticRows, int Cols>
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struct ReverseADInterface : public ReverseADInterface < MaxSupportedStaticRows - 1, Cols> {
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protected:
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using ReverseADInterface < MaxSupportedStaticRows - 1, Cols>::_reverseAD;
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virtual void _reverseAD(const Eigen::Matrix<double, MaxSupportedStaticRows, Cols> & dFdT, JacobianMap& jacobians) const = 0;
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};
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template<int Cols>
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struct ReverseADInterface<0, Cols> {
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protected:
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void _reverseAD(){} //dummy to allow the using directive in the template without failing for MaxSupportedStaticRows == 1.
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};
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}
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/**
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* The CallRecord class stores the Jacobians of applying a function
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* with respect to each of its arguments. It also stores an executation trace
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* (defined below) for each of its arguments.
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*
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* It is implemented in the function-style ExpressionNode's nested Record class below.
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*/
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template<int Cols>
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struct CallRecord : private internal::ReverseADInterface<MaxVirtualStaticRows, Cols> {
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inline void print(const std::string& indent) const {
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_print(indent);
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}
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inline void startReverseAD(JacobianMap& jacobians) const {
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_startReverseAD(jacobians);
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}
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template <int Rows>
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inline void reverseAD(const Eigen::Matrix<double, Rows, Cols> & dFdT, JacobianMap& jacobians) const{
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_reverseAD(internal::ConvertToDynamicRowsIf<(Rows > MaxVirtualStaticRows)>::convert(dFdT), jacobians);
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}
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virtual ~CallRecord() {
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}
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private:
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using internal::ReverseADInterface<MaxVirtualStaticRows, Cols>::_reverseAD;
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virtual void _print(const std::string& indent) const = 0;
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virtual void _startReverseAD(JacobianMap& jacobians) const = 0;
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virtual void _reverseAD(const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT, JacobianMap& jacobians) const = 0;
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virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const = 0;
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};
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namespace internal {
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/**
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* ReverseADImplementor is a utility class used by CallRecordImplementor to implementing the recursive CallRecord interface.
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*/
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template <typename Derived, int MaxSupportedStaticRows, int Cols>
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struct ReverseADImplementor : ReverseADImplementor<Derived, MaxSupportedStaticRows - 1, Cols> {
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protected:
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virtual void _reverseAD(const Eigen::Matrix<double, MaxSupportedStaticRows, Cols> & dFdT, JacobianMap& jacobians) const {
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static_cast<const Derived *>(this)->reverseAD(dFdT, jacobians);
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}
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};
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template<typename Derived, int Cols>
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struct ReverseADImplementor<Derived, 0, Cols> : CallRecord<Cols> {
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};
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/**
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* The CallRecordImplementor implements the CallRecord interface for a Derived class by
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* delegating to its corresponding (templated) non-virtual methods.
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*/
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template<typename Derived, int Cols>
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struct CallRecordImplementor : public ReverseADImplementor<Derived, MaxVirtualStaticRows, Cols> {
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private:
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const Derived & derived() const {
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return static_cast<const Derived&>(*this);
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}
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virtual void _print(const std::string& indent) const {
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derived().print(indent);
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}
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virtual void _startReverseAD(JacobianMap& jacobians) const {
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derived().startReverseAD(jacobians);
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}
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virtual void _reverseAD(const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT, JacobianMap& jacobians) const {
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derived().reverseAD(dFdT, jacobians);
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}
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virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
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derived().reverseAD(dFdT, jacobians);
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}
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};
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}
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//-----------------------------------------------------------------------------
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/// Handle Leaf Case: reverseAD ends here, by writing a matrix into Jacobians
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template<int ROWS, int COLS>
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