From 1ee54c6533811c277bc6d3049c1e597d6db106a2 Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Wed, 4 Jan 2023 16:38:40 -0800
Subject: [PATCH] works now

---
 gtsam/nonlinear/NonlinearFactor.h | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index 235858088..5409920d3 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -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);
+        /* } */
   }
 
   /// @}