From 1c87f9d07ad121ab9c90e2396ae36dab9d456661 Mon Sep 17 00:00:00 2001
From: ivan <ijimenez3@gatech.edu>
Date: Mon, 7 Mar 2016 10:14:27 -0500
Subject: [PATCH] [BUGFIX] Fix Evaluate Hessians for Matrices of a given
 dimension.

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

diff --git a/gtsam_unstable/nonlinear/NonlinearConstraint.h b/gtsam_unstable/nonlinear/NonlinearConstraint.h
index ce6648d10..890d21d5c 100644
--- 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);