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No need to have all of T as template parameter

release/4.3a0
dellaert 2014-10-11 09:00:03 +02:00
parent 820988b04e
commit e09e24964a
1 changed files with 7 additions and 7 deletions
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14
gtsam_unstable/nonlinear/Expression-inl.h
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@ -41,7 +41,7 @@ typedef std::map<Key, Matrix> JacobianMap;
* *
* It is sub-classed in the function-style ExpressionNode sub-classes below. * It is sub-classed in the function-style ExpressionNode sub-classes below.
*/ */
template<class T> template<int COLS>
struct CallRecord { struct CallRecord {
/// Make sure destructor is virtual /// Make sure destructor is virtual
@ -49,7 +49,7 @@ struct CallRecord {
} }
virtual void startReverseAD(JacobianMap& jacobians) const = 0; virtual void startReverseAD(JacobianMap& jacobians) const = 0;
virtual void reverseAD(const Matrix& dFdT, JacobianMap& jacobians) const = 0; virtual void reverseAD(const Matrix& dFdT, JacobianMap& jacobians) const = 0;
typedef Eigen::Matrix<double, 2, T::dimension> Jacobian2T; typedef Eigen::Matrix<double, 2, COLS> Jacobian2T;
virtual void reverseAD2(const Jacobian2T& dFdT, virtual void reverseAD2(const Jacobian2T& dFdT,
JacobianMap& jacobians) const = 0; JacobianMap& jacobians) const = 0;
}; };
@ -69,7 +69,7 @@ class ExecutionTrace {
} type; } type;
union { union {
Key key; Key key;
CallRecord<T>* ptr; CallRecord<T::dimension>* ptr;
} content; } content;
public: public:
/// Pointer always starts out as a Constant /// Pointer always starts out as a Constant
@ -87,7 +87,7 @@ public:
content.key = key; content.key = key;
} }
/// Take ownership of pointer to a Function Record /// Take ownership of pointer to a Function Record
void setFunction(CallRecord<T>* record) { void setFunction(CallRecord<T::dimension>* record) {
type = Function; type = Function;
content.ptr = record; content.ptr = record;
} }
@ -440,7 +440,7 @@ public:
} }
/// Record structure for reverse AD /// Record structure for reverse AD
struct Record: public CallRecord<T> { struct Record: public CallRecord<T::dimension> {
ExecutionTrace<A1> trace1; ExecutionTrace<A1> trace1;
JacobianTA dTdA1; JacobianTA dTdA1;
@ -529,7 +529,7 @@ public:
} }
/// Record structure for reverse AD /// Record structure for reverse AD
struct Record: public CallRecord<T> { struct Record: public CallRecord<T::dimension> {
ExecutionTrace<A1> trace1; ExecutionTrace<A1> trace1;
ExecutionTrace<A2> trace2; ExecutionTrace<A2> trace2;
JacobianTA1 dTdA1; JacobianTA1 dTdA1;
@ -636,7 +636,7 @@ public:
} }
/// Record structure for reverse AD /// Record structure for reverse AD
struct Record: public CallRecord<T> { struct Record: public CallRecord<T::dimension> {
ExecutionTrace<A1> trace1; ExecutionTrace<A1> trace1;
ExecutionTrace<A2> trace2; ExecutionTrace<A2> trace2;
ExecutionTrace<A3> trace3; ExecutionTrace<A3> trace3;