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add trace structure for reverse AD in TernaryExpression

release/4.3a0
Sungtae An 2014-10-05 17:38:09 -04:00
parent 0421d05d44
commit cc3c0fcfec
1 changed files with 20 additions and 0 deletions
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20
gtsam_unstable/nonlinear/Expression-inl.h
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@ -533,6 +533,26 @@ public:
return Augmented<T>(t, H1, argument1.jacobians(), H2, argument2.jacobians(), H3, argument3.jacobians());
}
/// Trace structure for reverse AD
struct Trace: public JacobianTrace<T> {
boost::shared_ptr<JacobianTrace<A1> > trace1;
boost::shared_ptr<JacobianTrace<A2> > trace2;
boost::shared_ptr<JacobianTrace<A3> > trace3;
Matrix H1, H2, H3;
/// Start the reverse AD process
virtual void reverseAD(JacobianMap& jacobians) const {
trace1->reverseAD(H1, jacobians);
trace2->reverseAD(H2, jacobians);
trace3->reverseAD(H3, jacobians);
}
/// Given df/dT, multiply in dT/dA and continue reverse AD process
virtual void reverseAD(const Matrix& H, JacobianMap& jacobians) const {
trace1->reverseAD(H * H1, jacobians);
trace2->reverseAD(H * H2, jacobians);
trace3->reverseAD(H * H3, jacobians);
}
};
};
//-----------------------------------------------------------------------------
}