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adapted a view comments and friendships to the new virtual inheritance sceme 

visibility fine tuning
release/4.3a0
HannesSommer 2014-11-22 19:19:17 +01:00
parent 87ea6341f2
commit cc997dd774
1 changed files with 42 additions and 47 deletions
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89
gtsam_unstable/nonlinear/CallRecord.h
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@ -84,13 +84,48 @@ struct ReverseADInterface<0, Cols> {
JacobianMap& jacobians) const = 0; JacobianMap& jacobians) const = 0;
}; };
/**
* ReverseADImplementor is a utility class used by CallRecordImplementor to
* implementing the recursive ReverseADInterface interface.
*/
template<typename Derived, int MaxSupportedStaticRows, int Cols> template<typename Derived, int MaxSupportedStaticRows, int Cols>
struct ReverseADImplementor; // forward for CallRecord's friend declaration struct ReverseADImplementor: ReverseADImplementor<Derived,
} MaxSupportedStaticRows - 1, Cols> {
private:
using ReverseADImplementor<Derived,
MaxSupportedStaticRows - 1, Cols>::_reverseAD;
virtual void _reverseAD(
const Eigen::Matrix<double, MaxSupportedStaticRows, Cols> & dFdT,
JacobianMap& jacobians) const {
static_cast<const Derived *>(this)->reverseAD(dFdT, jacobians);
}
friend struct internal::ReverseADImplementor<Derived, MaxSupportedStaticRows + 1, Cols>;
};
template<typename Derived, int Cols>
struct ReverseADImplementor<Derived, 0, Cols>
: virtual internal::ReverseADInterface<MaxVirtualStaticRows, Cols> {
private:
using internal::ReverseADInterface<MaxVirtualStaticRows, Cols>::_reverseAD;
const Derived & derived() const {
return static_cast<const Derived&>(*this);
}
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
friend struct internal::ReverseADImplementor<Derived, 1, Cols>;
};
} // namespace internal
/** /**
* The CallRecord class stores the Jacobians of applying a function * The CallRecord class stores the Jacobians of applying a function
* with respect to each of its arguments. It also stores an executation trace * with respect to each of its arguments. It also stores an execution trace
* (defined below) for each of its arguments. * (defined below) for each of its arguments.
* *
* It is implemented in the function-style ExpressionNode's nested Record class below. * It is implemented in the function-style ExpressionNode's nested Record class below.
@ -128,57 +163,16 @@ private:
virtual void _startReverseAD(JacobianMap& jacobians) const = 0; virtual void _startReverseAD(JacobianMap& jacobians) const = 0;
using internal::ReverseADInterface<MaxVirtualStaticRows, using internal::ReverseADInterface<MaxVirtualStaticRows,
Cols>::_reverseAD; Cols>::_reverseAD;
template<typename Derived, int MaxSupportedStaticRows, int OtherCols>
friend struct internal::ReverseADImplementor;
}; };
namespace internal { namespace internal {
/**
* ReverseADImplementor is a utility class used by CallRecordImplementor to
* implementing the recursive CallRecord interface.
*/
template<typename Derived, int MaxSupportedStaticRows, int Cols>
struct ReverseADImplementor: ReverseADImplementor<Derived,
MaxSupportedStaticRows - 1, Cols> {
private:
using ReverseADImplementor<Derived,
MaxSupportedStaticRows - 1, Cols>::_reverseAD;
virtual void _reverseAD(
const Eigen::Matrix<double, MaxSupportedStaticRows, Cols> & dFdT,
JacobianMap& jacobians) const {
static_cast<const Derived *>(this)->reverseAD(dFdT, jacobians);
}
friend struct internal::ReverseADImplementor<Derived, MaxSupportedStaticRows + 1, Cols>;
};
template<typename Derived, int Cols>
struct ReverseADImplementor<Derived, 0, Cols>
: virtual internal::ReverseADInterface<MaxVirtualStaticRows, Cols> {
private:
using internal::ReverseADInterface<MaxVirtualStaticRows, Cols>::_reverseAD;
const Derived & derived() const {
return static_cast<const Derived&>(*this);
}
virtual void _reverseAD(
const Eigen::Matrix<double, Eigen::Dynamic, Cols> & dFdT,
JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
virtual void _reverseAD(const Matrix & dFdT, JacobianMap& jacobians) const {
derived().reverseAD(dFdT, jacobians);
}
friend struct internal::ReverseADImplementor<Derived, 1, Cols>;
};
/** /**
* The CallRecordImplementor implements the CallRecord interface for a Derived class by * The CallRecordImplementor implements the CallRecord interface for a Derived class by
* delegating to its corresponding (templated) non-virtual methods. * delegating to its corresponding (templated) non-virtual methods.
*/ */
template<typename Derived, int Cols> template<typename Derived, int Cols>
struct CallRecordImplementor: ReverseADImplementor<Derived, struct CallRecordImplementor: public CallRecord<Cols>,
MaxVirtualStaticRows, Cols>, CallRecord<Cols>{ private ReverseADImplementor<Derived, MaxVirtualStaticRows, Cols> {
private: private:
const Derived & derived() const { const Derived & derived() const {
return static_cast<const Derived&>(*this); return static_cast<const Derived&>(*this);
@ -189,8 +183,9 @@ private:
virtual void _startReverseAD(JacobianMap& jacobians) const { virtual void _startReverseAD(JacobianMap& jacobians) const {
derived().startReverseAD(jacobians); derived().startReverseAD(jacobians);
} }
template <typename D, int R, int C> friend class ReverseADImplementor;
}; };
} // internal } // namespace internal
} // gtsam } // gtsam