[BUGFIX] Fix Evaluate Hessians for Matrices of a given dimension.

2016-03-07 10:14:27 -05:00 · 2016-03-07 10:14:27 -05:00 · 1c87f9d07a
parent e78f73cfe9
commit 1c87f9d07a
1 changed files with 2 additions and 2 deletions
--- a/gtsam_unstable/nonlinear/NonlinearConstraint.h
+++ b/gtsam_unstable/nonlinear/NonlinearConstraint.h
@ -107,8 +107,8 @@ public:
  virtual void evaluateHessians(const X& x1, std::vector<Matrix>& G11) const {

    static const bool debug = false;
-
-    boost::function<Vector(const X&)> vecH1(
+    typedef Eigen::Matrix<double, X1Dim, 1> actual_size;
+    boost::function<actual_size(const X&)> vecH1(
        boost::bind(&This::vectorizeH1t, this, _1));

    Matrix G11all = numericalDerivative11(vecH1, x1, 1e-5);