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Better names

release/4.3a0
dellaert 2014-10-05 17:20:55 +02:00
parent 001504a432
commit caf742d5e1
2 changed files with 18 additions and 18 deletions
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32
gtsam_unstable/nonlinear/Expression-inl.h
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@ -147,7 +147,7 @@ struct JacobianTrace {
T value() const { T value() const {
return t; return t;
} }
virtual void update(const Matrix& H, JacobianMap& jacobians) const = 0; virtual void reverseAD(const Matrix& H, JacobianMap& jacobians) const = 0;
// /// Insert terms into jacobians_, adding if already exists // /// Insert terms into jacobians_, adding if already exists
// static void add(const JacobianMap& terms) { // static void add(const JacobianMap& terms) {
@ -193,7 +193,7 @@ public:
virtual Augmented<T> forward(const Values& values) const = 0; virtual Augmented<T> forward(const Values& values) const = 0;
/// Construct an execution trace for reverse AD /// Construct an execution trace for reverse AD
virtual boost::shared_ptr<JacobianTrace<T> > reverse( virtual boost::shared_ptr<JacobianTrace<T> > traceExecution(
const Values& values) const = 0; const Values& values) const = 0;
}; };
@ -237,13 +237,13 @@ public:
/// Trace structure for reverse AD /// Trace structure for reverse AD
struct Trace: public JacobianTrace<T> { struct Trace: public JacobianTrace<T> {
/// Return value and derivatives /// Return value and derivatives
virtual void update(const Matrix& H, JacobianMap& jacobians) const { virtual void reverseAD(const Matrix& H, JacobianMap& jacobians) const {
// Base case: don't touch jacobians // Base case: don't touch jacobians
} }
}; };
/// Construct an execution trace for reverse AD /// Construct an execution trace for reverse AD
virtual boost::shared_ptr<JacobianTrace<T> > reverse( virtual boost::shared_ptr<JacobianTrace<T> > traceExecution(
const Values& values) const { const Values& values) const {
boost::shared_ptr<Trace> trace = boost::make_shared<Trace>(); boost::shared_ptr<Trace> trace = boost::make_shared<Trace>();
trace->t = constant_; trace->t = constant_;
@ -294,14 +294,14 @@ public:
struct Trace: public JacobianTrace<T> { struct Trace: public JacobianTrace<T> {
Key key; Key key;
/// Return value and derivatives /// Return value and derivatives
virtual void update(const Matrix& H, JacobianMap& jacobians) const { virtual void reverseAD(const Matrix& H, JacobianMap& jacobians) const {
// Base case: just insert a new H in the JacobianMap with correct key // Base case: just insert a new H in the JacobianMap with correct key
jacobians.add(key, H); jacobians.add(key, H);
} }
}; };
/// Construct an execution trace for reverse AD /// Construct an execution trace for reverse AD
virtual boost::shared_ptr<JacobianTrace<T> > reverse( virtual boost::shared_ptr<JacobianTrace<T> > traceExecution(
const Values& values) const { const Values& values) const {
boost::shared_ptr<Trace> trace = boost::make_shared<Trace>(); boost::shared_ptr<Trace> trace = boost::make_shared<Trace>();
trace->t = value(values); trace->t = value(values);
@ -363,19 +363,19 @@ public:
boost::shared_ptr<JacobianTrace<A> > trace1; boost::shared_ptr<JacobianTrace<A> > trace1;
Matrix H1; Matrix H1;
/// Return value and derivatives /// Return value and derivatives
virtual void update(const Matrix& H, JacobianMap& jacobians) const { virtual void reverseAD(const Matrix& H, JacobianMap& jacobians) const {
// This is a top-down calculation // This is a top-down calculation
// The end-result needs Jacobians to all leaf nodes. // The end-result needs Jacobians to all leaf nodes.
// Since this is not a leaf node, we compute what is needed for leaf nodes here // Since this is not a leaf node, we compute what is needed for leaf nodes here
trace1->update(H * H1, jacobians); trace1->reverseAD(H * H1, jacobians);
} }
}; };
/// Construct an execution trace for reverse AD /// Construct an execution trace for reverse AD
virtual boost::shared_ptr<JacobianTrace<T> > reverse( virtual boost::shared_ptr<JacobianTrace<T> > traceExecution(
const Values& values) const { const Values& values) const {
boost::shared_ptr<Trace> trace = boost::make_shared<Trace>(); boost::shared_ptr<Trace> trace = boost::make_shared<Trace>();
trace->trace1 = this->expressionA_->reverse(values); trace->trace1 = this->expressionA_->traceExecution(values);
trace->t = function_(trace->trace1->value(), trace->H1); trace->t = function_(trace->trace1->value(), trace->H1);
return trace; return trace;
} }
@ -446,22 +446,22 @@ public:
boost::shared_ptr<JacobianTrace<A2> > trace2; boost::shared_ptr<JacobianTrace<A2> > trace2;
Matrix H1, H2; Matrix H1, H2;
/// Return value and derivatives /// Return value and derivatives
virtual void update(const Matrix& H, JacobianMap& jacobians) const { virtual void reverseAD(const Matrix& H, JacobianMap& jacobians) const {
// This is a top-down calculation // This is a top-down calculation
// The end-result needs Jacobians to all leaf nodes. // The end-result needs Jacobians to all leaf nodes.
// Since this is not a leaf node, we compute what is needed for leaf nodes here // Since this is not a leaf node, we compute what is needed for leaf nodes here
// The binary node represents a fork in the tree, and hence we will get two Augmented maps // The binary node represents a fork in the tree, and hence we will get two Augmented maps
trace1->update(H * H1, jacobians); trace1->reverseAD(H * H1, jacobians);
trace2->update(H * H2, jacobians); trace2->reverseAD(H * H2, jacobians);
} }
}; };
/// Construct an execution trace for reverse AD /// Construct an execution trace for reverse AD
virtual boost::shared_ptr<JacobianTrace<T> > reverse( virtual boost::shared_ptr<JacobianTrace<T> > traceExecution(
const Values& values) const { const Values& values) const {
boost::shared_ptr<Trace> trace = boost::make_shared<Trace>(); boost::shared_ptr<Trace> trace = boost::make_shared<Trace>();
trace->trace1 = this->expressionA1_->reverse(values); trace->trace1 = this->expressionA1_->traceExecution(values);
trace->trace2 = this->expressionA2_->reverse(values); trace->trace2 = this->expressionA2_->traceExecution(values);
trace->t = function_(trace->trace1->value(), trace->trace2->value(), trace->t = function_(trace->trace1->value(), trace->trace2->value(),
trace->H1, trace->H2); trace->H1, trace->H2);
return trace; return trace;

4
gtsam_unstable/nonlinear/Expression.h
View File

@ -105,10 +105,10 @@ public:
Augmented<T> augmented(const Values& values) const { Augmented<T> augmented(const Values& values) const {
#define REVERSE_AD #define REVERSE_AD
#ifdef REVERSE_AD #ifdef REVERSE_AD
boost::shared_ptr<JacobianTrace<T> > trace = root_->reverse(values); boost::shared_ptr<JacobianTrace<T> > trace = root_->traceExecution(values);
Augmented<T> augmented(trace->value()); Augmented<T> augmented(trace->value());
size_t n = T::Dim(); size_t n = T::Dim();
trace->update(Eigen::MatrixXd::Identity(n, n), augmented.jacobians()); trace->reverseAD(Eigen::MatrixXd::Identity(n, n), augmented.jacobians());
return augmented; return augmented;
#else #else
return root_->forward(values); return root_->forward(values);