From 0a754f6b5f8e78817c26fc2aea2f182a6df7d9fb Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 26 Dec 2014 18:23:30 +0100 Subject: [PATCH] Fixed compile problem --- gtsam/navigation/PreintegratedRotation.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 731e11f2e..67deb2d99 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -50,7 +50,7 @@ public: /// methods to access class variables Matrix3 deltaRij() const {return deltaRij_.matrix();} // expensive - Vector3 thetaRij(boost::optional H = boost::none) const {return Rot3::Logmap(deltaRij_, H);} // super-expensive + Vector3 thetaRij(OptionalJacobian<3,3> H = boost::none) const {return Rot3::Logmap(deltaRij_, H);} // super-expensive const double& deltaTij() const{return deltaTij_;} const Matrix3& delRdelBiasOmega() const{ return delRdelBiasOmega_;} const Matrix3& gyroscopeCovariance() const { return gyroscopeCovariance_;}