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Added MakeJacobian meta-function

release/4.3a0
Frank Dellaert 2015-07-12 16:33:56 -07:00
parent 03db69117a
commit 02b703c5c8
1 changed files with 10 additions and 0 deletions
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10
gtsam/base/OptionalJacobian.h
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@ -171,6 +171,16 @@ public:
// forward declare // forward declare
template <typename T> struct traits; template <typename T> struct traits;
/**
* @brief: meta-function to generate Jacobian
* @param T return type
* @param A argument type
*/
template <class T, class A>
struct MakeJacobian {
typedef Eigen::Matrix<double, traits<T>::dimension, traits<A>::dimension> type;
};
/** /**
* @brief: meta-function to generate JacobianTA optional reference * @brief: meta-function to generate JacobianTA optional reference
* Used mainly by Expressions * Used mainly by Expressions