gtsam::internal::CallRecord< Cols > Struct Template Reference

#include <CallRecord.h>

Inheritance diagram for gtsam::internal::CallRecord< Cols >:

Public Member Functions
void	print (const std::string &indent) const
template<typename Derived >
void	reverseAD2 (const Eigen::MatrixBase< Derived > &dFdT, JacobianMap &jacobians) const
void	reverseAD2 (const Matrix &dFdT, JacobianMap &jacobians) const
void	startReverseAD2 (JacobianMap &jacobians) const
virtual	~CallRecord ()

Private Member Functions
virtual void	_print (const std::string &indent) const =0
virtual void	_reverseAD3 (const Matrix &dFdT, JacobianMap &jacobians) const =0
virtual void	_reverseAD3 (const Eigen::Matrix< double, Eigen::Dynamic, Cols > &dFdT, JacobianMap &jacobians) const =0
virtual void	_reverseAD3 (const Eigen::Matrix< double, 1, Cols > &dFdT, JacobianMap &jacobians) const =0
virtual void	_reverseAD3 (const Eigen::Matrix< double, 2, Cols > &dFdT, JacobianMap &jacobians) const =0
virtual void	_reverseAD3 (const Eigen::Matrix< double, 3, Cols > &dFdT, JacobianMap &jacobians) const =0
virtual void	_reverseAD3 (const Eigen::Matrix< double, 4, Cols > &dFdT, JacobianMap &jacobians) const =0
virtual void	_reverseAD3 (const Eigen::Matrix< double, 5, Cols > &dFdT, JacobianMap &jacobians) const =0
virtual void	_startReverseAD3 (JacobianMap &jacobians) const =0

Detailed Description

template<int Cols>
struct gtsam::internal::CallRecord< Cols >

The CallRecord is an abstract base class for any class that stores the Jacobians of applying a function with respect to each of its arguments, as well as an execution trace for each of its arguments.

The complicated structure of this class is to get around the limitations of mixing inheritance (needed so that a trace can keep Record pointers) and templating (needed for efficient matrix multiplication). The "hack" is to implement N differently sized reverse AD methods, and select the appropriate version with the dispatch method reverseAD2 below.

Definition at line 69 of file CallRecord.h.

Constructor & Destructor Documentation

template<int Cols>

virtual gtsam::internal::CallRecord< Cols >::~CallRecord ( )

inlinevirtual

Definition at line 101 of file CallRecord.h.

Member Function Documentation

template<int Cols>

virtual void gtsam::internal::CallRecord< Cols >::_print ( const std::string &  indent ) const

privatepure virtual

Implemented in gtsam::internal::CallRecordImplementor< Derived, Cols >, and gtsam::internal::CallRecordImplementor< Record, traits< T >::dimension >.

template<int Cols>

virtual void gtsam::internal::CallRecord< Cols >::_reverseAD3 ( const Matrix &  dFdT, JacobianMap &  jacobians  ) const

privatepure virtual

Implemented in gtsam::internal::CallRecordImplementor< Derived, Cols >, and gtsam::internal::CallRecordImplementor< Record, traits< T >::dimension >.

template<int Cols>

virtual void gtsam::internal::CallRecord< Cols >::_reverseAD3 ( const Eigen::Matrix< double, Eigen::Dynamic, Cols > &  dFdT, JacobianMap &  jacobians  ) const

privatepure virtual

Implemented in gtsam::internal::CallRecordImplementor< Derived, Cols >, and gtsam::internal::CallRecordImplementor< Record, traits< T >::dimension >.

template<int Cols>

virtual void gtsam::internal::CallRecord< Cols >::_reverseAD3 ( const Eigen::Matrix< double, 1, Cols > &  dFdT, JacobianMap &  jacobians  ) const

privatepure virtual

Implemented in gtsam::internal::CallRecordImplementor< Derived, Cols >, and gtsam::internal::CallRecordImplementor< Record, traits< T >::dimension >.

template<int Cols>

virtual void gtsam::internal::CallRecord< Cols >::_reverseAD3 ( const Eigen::Matrix< double, 2, Cols > &  dFdT, JacobianMap &  jacobians  ) const

privatepure virtual

Implemented in gtsam::internal::CallRecordImplementor< Derived, Cols >, and gtsam::internal::CallRecordImplementor< Record, traits< T >::dimension >.

template<int Cols>

virtual void gtsam::internal::CallRecord< Cols >::_reverseAD3 ( const Eigen::Matrix< double, 3, Cols > &  dFdT, JacobianMap &  jacobians  ) const

privatepure virtual

Implemented in gtsam::internal::CallRecordImplementor< Derived, Cols >, and gtsam::internal::CallRecordImplementor< Record, traits< T >::dimension >.

template<int Cols>

virtual void gtsam::internal::CallRecord< Cols >::_reverseAD3 ( const Eigen::Matrix< double, 4, Cols > &  dFdT, JacobianMap &  jacobians  ) const

privatepure virtual

Implemented in gtsam::internal::CallRecordImplementor< Derived, Cols >, and gtsam::internal::CallRecordImplementor< Record, traits< T >::dimension >.

template<int Cols>

virtual void gtsam::internal::CallRecord< Cols >::_reverseAD3 ( const Eigen::Matrix< double, 5, Cols > &  dFdT, JacobianMap &  jacobians  ) const

privatepure virtual

Implemented in gtsam::internal::CallRecordImplementor< Derived, Cols >, and gtsam::internal::CallRecordImplementor< Record, traits< T >::dimension >.

template<int Cols>

virtual void gtsam::internal::CallRecord< Cols >::_startReverseAD3 ( JacobianMap &  jacobians ) const

privatepure virtual

Implemented in gtsam::internal::CallRecordImplementor< Derived, Cols >, and gtsam::internal::CallRecordImplementor< Record, traits< T >::dimension >.

template<int Cols>

void gtsam::internal::CallRecord< Cols >::print ( const std::string &  indent ) const

inline

Definition at line 72 of file CallRecord.h.

template<int Cols>

template<typename Derived >

void gtsam::internal::CallRecord< Cols >::reverseAD2 ( const Eigen::MatrixBase< Derived > &  dFdT, JacobianMap &  jacobians  ) const

inline

Definition at line 90 of file CallRecord.h.

template<int Cols>

void gtsam::internal::CallRecord< Cols >::reverseAD2 ( const Matrix &  dFdT, JacobianMap &  jacobians  ) const

inline

Definition at line 97 of file CallRecord.h.

template<int Cols>

void gtsam::internal::CallRecord< Cols >::startReverseAD2 ( JacobianMap &  jacobians ) const

inline

Definition at line 81 of file CallRecord.h.

---

The documentation for this struct was generated from the following file:

• CallRecord.h