#include <Expression.h>

Public Types
typedef ExecutionTrace< T >	type
	Define type so we can apply it as a meta-function. More...

Public Member Functions
	ExecutionTrace ()
	Pointer always starts out as a Constant. More...

void	print (const std::string &indent="") const
	Print. More...

template<class Record >
boost::optional< Record * >	record ()
	Return record pointer, quite unsafe, used only for testing. More...

template<typename DerivedMatrix >
void	reverseAD1 (const Eigen::MatrixBase< DerivedMatrix > &dTdA, JacobianMap &jacobians) const
	Either add to Jacobians (Leaf) or propagate (Function) More...

void	setFunction (CallRecord< Dim > *record)
	Take ownership of pointer to a Function Record. More...

void	setLeaf (Key key)
	Change pointer to a Leaf Record. More...

void	startReverseAD1 (JacobianMap &jacobians) const

	~ExecutionTrace ()

Private Types
enum	{ Constant, Leaf, Function }

typedef Eigen::Matrix< double, Dim, Dim >	JacobianTT

Private Attributes
union {
Key key

CallRecord< Dim > * ptr

}	content

enum gtsam::internal::ExecutionTrace:: { ... }	kind

Static Private Attributes
static const int	Dim = traits<T>::dimension

Detailed Description

template<class T>
class gtsam::internal::ExecutionTrace< T >

The ExecutionTrace class records a tree-structured expression's execution.

The class looks a bit complicated but it is so for performance. It is a tagged union that obviates the need to create a ExecutionTrace subclass for Constants and Leaf Expressions. Instead the key for the leaf is stored in the space normally used to store a CallRecord*. Nothing is stored for a Constant.

A full execution trace of a Binary(Unary(Binary(Leaf,Constant)),Leaf) would be: Trace(Function) -> BinaryRecord with two traces in it trace1(Function) -> UnaryRecord with one trace in it trace1(Function) -> BinaryRecord with two traces in it trace1(Leaf) trace2(Constant) trace2(Leaf) Hence, there are three Record structs, written to memory by traceExecution

Definition at line 41 of file Expression.h.

Member Typedef Documentation

template<class T>

typedef Eigen::Matrix<double, Dim, Dim> gtsam::internal::ExecutionTrace< T >::JacobianTT

private

Definition at line 94 of file ExecutionTrace.h.

template<class T>

typedef ExecutionTrace<T> gtsam::internal::ExecutionTrace< T >::type

Define type so we can apply it as a meta-function.

Definition at line 179 of file ExecutionTrace.h.

Member Enumeration Documentation

template<class T>

anonymous enum

private

Enumerator
Constant
Leaf
Function

Definition at line 95 of file ExecutionTrace.h.

Constructor & Destructor Documentation

template<class T>

gtsam::internal::ExecutionTrace< T >::ExecutionTrace ( )

inline

Pointer always starts out as a Constant.

Definition at line 106 of file ExecutionTrace.h.

template<class T>

gtsam::internal::ExecutionTrace< T >::~ExecutionTrace ( )

inline

Definition at line 172 of file ExecutionTrace.h.

Member Function Documentation

template<class T>

void gtsam::internal::ExecutionTrace< T >::print ( const std::string & indent = "" ) const

inline

Print.

Definition at line 123 of file ExecutionTrace.h.

template<class T>

template<class Record >

boost::optional<Record*> gtsam::internal::ExecutionTrace< T >::record ( )

inline

Return record pointer, quite unsafe, used only for testing.

Definition at line 135 of file ExecutionTrace.h.

template<class T>

template<typename DerivedMatrix >

void gtsam::internal::ExecutionTrace< T >::reverseAD1	(	const Eigen::MatrixBase< DerivedMatrix > &	dTdA,
		JacobianMap &	jacobians
	)		const

inline

Either add to Jacobians (Leaf) or propagate (Function)

Definition at line 164 of file ExecutionTrace.h.

template<class T>

void gtsam::internal::ExecutionTrace< T >::setFunction ( CallRecord< Dim > * record )

inline

Take ownership of pointer to a Function Record.

Definition at line 117 of file ExecutionTrace.h.

template<class T>

void gtsam::internal::ExecutionTrace< T >::setLeaf ( Key key )

inline

Change pointer to a Leaf Record.

Definition at line 111 of file ExecutionTrace.h.

template<class T>

void gtsam::internal::ExecutionTrace< T >::startReverseAD1 ( JacobianMap & jacobians ) const

inline

*** This is the main entry point for reverse AD, called from Expression *** Called only once, either inserts I into Jacobians (Leaf) or starts AD (Function)

Definition at line 148 of file ExecutionTrace.h.