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

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

89
gtsam_unstable/nonlinear/CallRecord.h
View File

@ -84,13 +84,48 @@ struct ReverseADInterface<0, Cols> {
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>
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
* 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.
*
* 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;
using internal::ReverseADInterface<MaxVirtualStaticRows,
Cols>::_reverseAD;
template<typename Derived, int MaxSupportedStaticRows, int OtherCols>
friend struct internal::ReverseADImplementor;
};
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
* delegating to its corresponding (templated) non-virtual methods.
*/
template<typename Derived, int Cols>
struct CallRecordImplementor: ReverseADImplementor<Derived,
MaxVirtualStaticRows, Cols>, CallRecord<Cols>{
struct CallRecordImplementor: public CallRecord<Cols>,
private ReverseADImplementor<Derived, MaxVirtualStaticRows, Cols> {
private:
const Derived & derived() const {
return static_cast<const Derived&>(*this);
@ -189,8 +183,9 @@ private:
virtual void _startReverseAD(JacobianMap& jacobians) const {
derived().startReverseAD(jacobians);
}
template <typename D, int R, int C> friend class ReverseADImplementor;
};
} // internal
} // namespace internal
} // gtsam