Formatting and documentation
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@ -64,7 +64,8 @@ public:
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}
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/// Access via key
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VerticalBlockMatrix::Block operator()(Key key) {
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FastVector<Key>::const_iterator it = std::find(keys_.begin(),keys_.end(),key);
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FastVector<Key>::const_iterator it = std::find(keys_.begin(), keys_.end(),
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key);
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DenseIndex block = it - keys_.begin();
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return Ab_(block);
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}
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@ -98,7 +99,7 @@ struct CallRecord {
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template<int ROWS, int COLS>
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void handleLeafCase(const Eigen::Matrix<double, ROWS, COLS>& dTdA,
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JacobianMap& jacobians, Key key) {
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jacobians(key).block < ROWS, COLS > (0, 0) += dTdA; // block makes HUGE difference
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jacobians(key).block<ROWS, COLS>(0, 0) += dTdA; // block makes HUGE difference
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}
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/// Handle Leaf Case for Dynamic Matrix type (slower)
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template<>
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@ -311,9 +312,9 @@ public:
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//-----------------------------------------------------------------------------
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/// Leaf Expression
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template<class T, class Chart=DefaultChart<T> >
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template<class T, class Chart = DefaultChart<T> >
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class LeafExpression: public ExpressionNode<T> {
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typedef ChartValue<T,Chart> value_type; // perhaps this can be something else like a std::pair<T,Chart> ??
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typedef ChartValue<T, Chart> value_type; // perhaps this can be something else like a std::pair<T,Chart> ??
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/// The key into values
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Key key_;
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@ -347,8 +348,8 @@ public:
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}
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/// Construct an execution trace for reverse AD
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virtual const value_type& traceExecution(const Values& values, ExecutionTrace<value_type>& trace,
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char* raw) const {
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virtual const value_type& traceExecution(const Values& values,
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ExecutionTrace<value_type>& trace, char* raw) const {
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trace.setLeaf(key_);
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return dynamic_cast<const value_type&>(values.at(key_));
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}
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@ -358,7 +359,7 @@ public:
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//-----------------------------------------------------------------------------
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/// Leaf Expression, if no chart is given, assume default chart and value_type is just the plain value
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template<typename T>
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class LeafExpression<T, DefaultChart<T> >: public ExpressionNode<T> {
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class LeafExpression<T, DefaultChart<T> > : public ExpressionNode<T> {
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typedef T value_type;
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/// The key into values
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@ -405,6 +406,7 @@ public:
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// C++ Template Metaprogramming: Concepts, Tools, and Techniques from Boost
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// and Beyond. Abrahams, David; Gurtovoy, Aleksey. Pearson Education.
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// to recursively generate a class, that will be the base for function nodes.
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//
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// The class generated, for three arguments A1, A2, and A3 will be
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//
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// struct Base1 : Argument<T,A1,1>, FunctionalBase<T> {
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@ -429,6 +431,30 @@ public:
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//
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// All this magic happens when we generate the Base3 base class of FunctionalNode
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// by invoking boost::mpl::fold over the meta-function GenerateFunctionalNode
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//
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// Similarly, the inner Record struct will be
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//
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// struct Record1 : JacobianTrace<T,A1,1>, CallRecord<traits::dimension<T>::value> {
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// ... storage related to A1 ...
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// ... methods that work on A1 ...
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// };
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//
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// struct Record2 : JacobianTrace<T,A2,2>, Record1 {
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// ... storage related to A2 ...
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// ... methods that work on A2 and (recursively) on A1 ...
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// };
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//
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// struct Record3 : JacobianTrace<T,A3,3>, Record2 {
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// ... storage related to A3 ...
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// ... methods that work on A3 and (recursively) on A2 and A1 ...
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// };
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//
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// struct Record : Record3 {
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// Provides convenience access to storage in hierarchy by using
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// static_cast<JacobianTrace<T, A, N> &>(*this)
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// }
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//
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//-----------------------------------------------------------------------------
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/// meta-function to generate fixed-size JacobianTA type
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@ -457,6 +483,7 @@ struct FunctionalBase: ExpressionNode<T> {
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/// Construct an execution trace for reverse AD
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void trace(const Values& values, Record* record, char*& raw) const {
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// base case: does not do anything
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}
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};
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@ -562,15 +589,23 @@ struct GenerateFunctionalNode: Argument<T, A, Base::N + 1>, Base {
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template<class T, class TYPES>
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struct FunctionalNode {
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/// The following typedef generates the recursively defined Base class
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typedef typename boost::mpl::fold<TYPES, FunctionalBase<T>,
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GenerateFunctionalNode<T, MPL::_2, MPL::_1> >::type Base;
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/**
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* The type generated by this meta-function derives from Base
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* and adds access functions as well as the crucial [trace] function
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*/
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struct type: public Base {
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// Argument types and derived, note these are base 0 !
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// These are currently not used - useful for Phoenix in future
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#ifdef EXPRESSIONS_PHOENIX
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typedef TYPES Arguments;
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typedef typename boost::mpl::transform<TYPES, Jacobian<T, MPL::_1> >::type Jacobians;
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typedef typename boost::mpl::transform<TYPES, OptionalJacobian<T, MPL::_1> >::type Optionals;
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#endif
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/// Reset expression shared pointer
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template<class A, size_t N>
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@ -725,7 +760,8 @@ public:
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typedef boost::function<
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T(const A1&, const A2&, const A3&, typename OptionalJacobian<T, A1>::type,
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typename OptionalJacobian<T, A2>::type, typename OptionalJacobian<T, A3>::type)> Function;
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typename OptionalJacobian<T, A2>::type,
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typename OptionalJacobian<T, A3>::type)> Function;
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typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type Base;
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typedef typename Base::Record Record;
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