From 05fad78ce917a4024d6a1c48b4ba35b3bd997be7 Mon Sep 17 00:00:00 2001
From: Milo Knowles <mknowles@mit.edu>
Date: Fri, 26 Mar 2021 10:09:05 -0400
Subject: [PATCH] Switch to cleaner T::Logmap

---
 gtsam_unstable/slam/PartialPriorFactor.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam_unstable/slam/PartialPriorFactor.h b/gtsam_unstable/slam/PartialPriorFactor.h
index bc28a6830..7568a222f 100644
--- a/gtsam_unstable/slam/PartialPriorFactor.h
+++ b/gtsam_unstable/slam/PartialPriorFactor.h
@@ -111,14 +111,14 @@ namespace gtsam {
     Vector evaluateError(const T& p, boost::optional<Matrix&> H = boost::none) const override {
       if (H) {
         Matrix H_logmap;
-        p.localCoordinates(T::identity(), H_logmap);
+        T::Logmap(p, H_logmap);
         (*H) = Matrix::Zero(indices_.size(), T::dimension);
         for (size_t i = 0; i < indices_.size(); ++i) {
           (*H).row(i) = H_logmap.row(indices_.at(i));
         }
       }
       // Compute the tangent vector representation of T and select relevant parameters.
-      const Vector& full_logmap = p.localCoordinates(T::identity());
+      const Vector& full_logmap = T::Logmap(p);
       Vector partial_logmap = Vector::Zero(T::dimension);
       for (size_t i = 0; i < indices_.size(); ++i) {
         partial_logmap(i) = full_logmap(indices_.at(i));