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Some fixed size in UnaryExpression

release/4.3a0
dellaert 2014-10-06 14:22:18 +02:00
parent 51eab1068f
commit e5c3f4228a
1 changed files with 5 additions and 4 deletions
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9
gtsam_unstable/nonlinear/Expression-inl.h
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@ -310,7 +310,8 @@ class UnaryExpression: public ExpressionNode<T> {
public: public:
typedef boost::function<T(const A&, boost::optional<Matrix&>)> Function; typedef Eigen::Matrix<double,T::dimension,A::dimension> JacobianTA;
typedef boost::function<T(const A&, boost::optional<JacobianTA&>)> Function;
private: private:
@ -344,16 +345,16 @@ public:
virtual Augmented<T> forward(const Values& values) const { virtual Augmented<T> forward(const Values& values) const {
using boost::none; using boost::none;
Augmented<A> argument = this->expressionA_->forward(values); Augmented<A> argument = this->expressionA_->forward(values);
Matrix dTdA; JacobianTA dTdA;
T t = function_(argument.value(), T t = function_(argument.value(),
argument.constant() ? none : boost::optional<Matrix&>(dTdA)); argument.constant() ? none : boost::optional<JacobianTA&>(dTdA));
return Augmented<T>(t, dTdA, argument.jacobians()); return Augmented<T>(t, dTdA, argument.jacobians());
} }
/// Trace structure for reverse AD /// Trace structure for reverse AD
struct Trace: public JacobianTrace<T> { struct Trace: public JacobianTrace<T> {
boost::shared_ptr<JacobianTrace<A> > trace1; boost::shared_ptr<JacobianTrace<A> > trace1;
Matrix dTdA; JacobianTA dTdA;
/// Start the reverse AD process /// Start the reverse AD process
virtual void reverseAD(JacobianMap& jacobians) const { virtual void reverseAD(JacobianMap& jacobians) const {
trace1->reverseAD(dTdA, jacobians); trace1->reverseAD(dTdA, jacobians);