From 1ccb395a6c9301f8eeff929b54e5fb380774f411 Mon Sep 17 00:00:00 2001
From: nsrinivasan7 <natesh.rvce@gmail.com>
Date: Sat, 29 Nov 2014 16:27:49 -0500
Subject: [PATCH] changed return value of adjoint map to Matrix3 and also
 updated the inverse factor os Pose2

---
 gtsam/geometry/Pose2.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 6caeb196a..922757fe8 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -107,7 +107,7 @@ public:
   inline static Pose2 identity() { return Pose2(); }
 
   /// inverse transformation with derivatives
-  Pose2 inverse(boost::optional<Matrix&> H1=boost::none) const;
+  Pose2 inverse(OptionalJacobian<3, 3> H1=boost::none) const;
 
   /// compose this transformation onto another (first *this and then p2)
   Pose2 compose(const Pose2& p2,
@@ -155,7 +155,7 @@ public:
    * Calculate Adjoint map
    * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
    */
-  Matrix AdjointMap() const;
+  Matrix3 AdjointMap() const;
   inline Vector Adjoint(const Vector& xi) const {
     assert(xi.size() == 3);
     return AdjointMap()*xi;