CallRecord.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
21 #pragma once
22 
24 
25 namespace gtsam {
26 namespace internal {
27 
33 template<bool ConvertToDynamicRows>
35  template<typename Derived>
38  return x;
39  }
40 };
41 
42 template<>
43 struct ConvertToDynamicIf<false> {
44  template<typename Derived>
45  static const Eigen::Matrix<double, Derived::RowsAtCompileTime,
46  Derived::ColsAtCompileTime> convert(
47  const Eigen::MatrixBase<Derived> & x) {
48  return x;
49  }
50  // Most common case: just pass through matrices that are already of the right fixed-size type
51  template <int Rows, int Cols>
54  return x;
55  }
56 };
57 
68 template<int Cols>
69 struct CallRecord {
70 
71  // Print entire record, recursively
72  inline void print(const std::string& indent) const {
73  _print(indent);
74  }
75 
76  // Main entry point for the reverse AD process of a functional expression.
77  // Called *once* by the main AD entry point, ExecutionTrace::startReverseAD1
78  // This function then calls ExecutionTrace::reverseAD for every argument
79  // which will in turn call the reverseAD method below.
80  // Calls virtual function _startReverseAD3, implemented in derived
81  inline void startReverseAD2(JacobianMap& jacobians) const {
82  _startReverseAD3(jacobians);
83  }
84 
85  // Dispatch the reverseAD2 calls issued by ExecutionTrace::reverseAD1
86  // Here we convert dFdT to a dynamic Matrix if the # rows>5, because _reverseAD3 is only
87  // specialized for fixed-size matrices up to 5 rows.
88  // The appropriate _reverseAD3 method is selected by method overloading.
89  template <typename Derived>
90  inline void reverseAD2(const Eigen::MatrixBase<Derived>& dFdT, JacobianMap& jacobians) const {
91  _reverseAD3(ConvertToDynamicIf<(Derived::RowsAtCompileTime > 5)>::convert(dFdT), jacobians);
92  }
93 
94  // This overload supports matrices with both rows and columns dynamically sized.
95  // The template version above would be slower by introducing an extra conversion
96  // to statically sized columns.
97  inline void reverseAD2(const Matrix & dFdT, JacobianMap& jacobians) const {
98  _reverseAD3(dFdT, jacobians);
99  }
100 
101  virtual ~CallRecord() {
102  }
103 
104 private:
105 
106  virtual void _print(const std::string& indent) const = 0;
107  virtual void _startReverseAD3(JacobianMap& jacobians) const = 0;
108 
109  virtual void _reverseAD3(const Matrix & dFdT,
110  JacobianMap& jacobians) const = 0;
111 
112  virtual void _reverseAD3(
114  JacobianMap& jacobians) const = 0;
115 
116  virtual void _reverseAD3(const Eigen::Matrix<double, 1, Cols> & dFdT,
117  JacobianMap& jacobians) const = 0;
118  virtual void _reverseAD3(const Eigen::Matrix<double, 2, Cols> & dFdT,
119  JacobianMap& jacobians) const = 0;
120  virtual void _reverseAD3(const Eigen::Matrix<double, 3, Cols> & dFdT,
121  JacobianMap& jacobians) const = 0;
122  virtual void _reverseAD3(const Eigen::Matrix<double, 4, Cols> & dFdT,
123  JacobianMap& jacobians) const = 0;
124  virtual void _reverseAD3(const Eigen::Matrix<double, 5, Cols> & dFdT,
125  JacobianMap& jacobians) const = 0;
126 };
127 
134 
139 template<typename Derived, int Cols>
140 struct CallRecordImplementor: public CallRecord<Cols> {
141 private:
142 
143  const Derived & derived() const {
144  return static_cast<const Derived&>(*this);
145  }
146 
147  void _print(const std::string& indent) const override {
148  derived().print(indent);
149  }
150 
151  // Called from base class non-virtual inline method startReverseAD2
152  // Calls non-virtual function startReverseAD4, implemented in Derived (ExpressionNode::Record)
153  void _startReverseAD3(JacobianMap& jacobians) const override {
154  derived().startReverseAD4(jacobians);
155  }
156 
157  void _reverseAD3(const Matrix & dFdT, JacobianMap& jacobians) const override {
158  derived().reverseAD4(dFdT, jacobians);
159  }
160 
163  JacobianMap& jacobians) const override {
164  derived().reverseAD4(dFdT, jacobians);
165  }
167  JacobianMap& jacobians) const override {
168  derived().reverseAD4(dFdT, jacobians);
169  }
171  JacobianMap& jacobians) const override {
172  derived().reverseAD4(dFdT, jacobians);
173  }
175  JacobianMap& jacobians) const override {
176  derived().reverseAD4(dFdT, jacobians);
177  }
179  JacobianMap& jacobians) const override {
180  derived().reverseAD4(dFdT, jacobians);
181  }
183  JacobianMap& jacobians) const override {
184  derived().reverseAD4(dFdT, jacobians);
185  }
186 };
187 
188 } // namespace internal
189 } // gtsam
gtsam::internal::CallRecord::_print
virtual void _print(const std::string &indent) const =0
gtsam::internal::ConvertToDynamicIf< false >::convert
static const Eigen::Matrix< double, Rows, Cols > & convert(const Eigen::Matrix< double, Rows, Cols > &x)
Definition: CallRecord.h:52
gtsam::internal::CallRecordImplementor::_reverseAD3
void _reverseAD3(const Eigen::Matrix< double, 5, Cols > &dFdT, JacobianMap &jacobians) const override
Definition: CallRecord.h:182
gtsam::internal::CallRecordImplementor::_startReverseAD3
void _startReverseAD3(JacobianMap &jacobians) const override
Definition: CallRecord.h:153
gtsam::internal::CallRecord::startReverseAD2
void startReverseAD2(JacobianMap &jacobians) const
Definition: CallRecord.h:81
gtsam::internal::CallRecord::print
void print(const std::string &indent) const
Definition: CallRecord.h:72
gtsam::internal::ConvertToDynamicIf
Definition: CallRecord.h:34
x
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
Definition: gnuplot_common_settings.hh:12
gtsam::internal::ConvertToDynamicIf< false >::convert
static const Eigen::Matrix< double, Derived::RowsAtCompileTime, Derived::ColsAtCompileTime > convert(const Eigen::MatrixBase< Derived > &x)
Definition: CallRecord.h:46
gtsam::Matrix
Eigen::MatrixXd Matrix
Definition: base/Matrix.h:39
gtsam::internal::CallRecord::_startReverseAD3
virtual void _startReverseAD3(JacobianMap &jacobians) const =0
gtsam::internal::CallRecordImplementor::_reverseAD3
void _reverseAD3(const Eigen::Matrix< double, 3, Cols > &dFdT, JacobianMap &jacobians) const override
Definition: CallRecord.h:174
JacobianMap.h
JacobianMap for returning derivatives from expressions.
gtsam::internal::ConvertToDynamicIf::convert
static Eigen::Matrix< double, Eigen::Dynamic, Derived::ColsAtCompileTime > convert(const Eigen::MatrixBase< Derived > &x)
Definition: CallRecord.h:36
gtsam::internal::CallRecord
Definition: CallRecord.h:69
gtsam::internal::CallRecordImplementor::_print
void _print(const std::string &indent) const override
Definition: CallRecord.h:147
gtsam::internal::CallRecord::_reverseAD3
virtual void _reverseAD3(const Matrix &dFdT, JacobianMap &jacobians) const =0
gtsam::internal::CallRecordImplementor::_reverseAD3
void _reverseAD3(const Eigen::Matrix< double, 1, Cols > &dFdT, JacobianMap &jacobians) const override
Definition: CallRecord.h:166
gtsam::internal::CallRecordImplementor
Definition: CallRecord.h:140
gtsam::internal::JacobianMap
Definition: JacobianMap.h:32
gtsam::internal::CallRecordImplementor::_reverseAD3
void _reverseAD3(const Eigen::Matrix< double, Eigen::Dynamic, Cols > &dFdT, JacobianMap &jacobians) const override
Definition: CallRecord.h:161
gtsam::internal::CallRecord::reverseAD2
void reverseAD2(const Eigen::MatrixBase< Derived > &dFdT, JacobianMap &jacobians) const
Definition: CallRecord.h:90
gtsam::internal::CallRecord::reverseAD2
void reverseAD2(const Matrix &dFdT, JacobianMap &jacobians) const
Definition: CallRecord.h:97
gtsam
traits
Definition: SFMdata.h:40
gtsam::internal::CallRecordMaxVirtualStaticRows
const int CallRecordMaxVirtualStaticRows
Definition: CallRecord.h:133
gtsam::internal::CallRecord::~CallRecord
virtual ~CallRecord()
Definition: CallRecord.h:101
Eigen::Matrix
The matrix class, also used for vectors and row-vectors.
Definition: 3rdparty/Eigen/Eigen/src/Core/Matrix.h:178
internal
Definition: BandTriangularSolver.h:13
Eigen::MatrixBase
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:48
gtsam::internal::CallRecordImplementor::_reverseAD3
void _reverseAD3(const Eigen::Matrix< double, 4, Cols > &dFdT, JacobianMap &jacobians) const override
Definition: CallRecord.h:178
gtsam::convert
static BinaryMeasurement< Rot3 > convert(const BetweenFactor< Pose3 >::shared_ptr &f)
Definition: ShonanAveraging.cpp:993
gtsam::internal::CallRecordImplementor::derived
const Derived & derived() const
Definition: CallRecord.h:143
gtsam::internal::CallRecordImplementor::_reverseAD3
void _reverseAD3(const Matrix &dFdT, JacobianMap &jacobians) const override
Definition: CallRecord.h:157
gtsam::internal::CallRecordImplementor::_reverseAD3
void _reverseAD3(const Eigen::Matrix< double, 2, Cols > &dFdT, JacobianMap &jacobians) const override
Definition: CallRecord.h:170


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