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works now

release/4.3a0
kartik arcot 2023-01-04 16:38:40 -08:00
parent 4eb73db1c1
commit 1ee54c6533
1 changed files with 10 additions and 8 deletions
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18
gtsam/nonlinear/NonlinearFactor.h
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@ -618,14 +618,16 @@ protected:
*/
template <typename... OptionalJacArgs, typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>>
inline Vector evaluateError(const ValueTypes&... x, OptionalJacArgs&&... H) const {
constexpr bool are_all_opt_mat = (... && std::is_same<OptionalMatrix, std::decay_t<OptionalJacArgs>>::value);
constexpr bool are_all_mat = (... && std::is_same<Matrix, std::decay_t<OptionalJacArgs>>::value);
static_assert((are_all_mat == false && are_all_opt_mat == false), "ERRORRR");
if constexpr ((... && std::is_same<OptionalMatrix, std::decay_t<OptionalJacArgs>>::value)) {
return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., OptionalNone);
} else if constexpr ((... && std::is_same<Matrix, std::decay_t<OptionalJacArgs>>::value)) {
return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., OptionalNone);
}
/* constexpr bool are_all_opt_mat = (... && std::is_same<OptionalMatrix, std::decay_t<OptionalJacArgs>>::value); */
constexpr bool are_all_mat =
(... && (std::is_same<Matrix, std::decay_t<OptionalJacArgs>>::value ||
std::is_same<boost::none_t, std::decay_t<OptionalJacArgs>>::value));
static_assert(are_all_mat, "ERRORRR");
/* if constexpr ((... && std::is_same<OptionalMatrix, std::decay_t<OptionalJacArgs>>::value)) { */
/* return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., boost::none); */
/* } else if constexpr ((... && std::is_same<Matrix, std::decay_t<OptionalJacArgs>>::value)) { */
return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., boost::none);
/* } */
}
/// @}