From 2c4adcc6af83b8827273404e51c49b7a63d976bf Mon Sep 17 00:00:00 2001
From: nsrinivasan7 <natesh.rvce@gmail.com>
Date: Sun, 30 Nov 2014 08:33:35 -0500
Subject: [PATCH] replaces insertsub in Pose2. make check works. Are all
 functions in Matrix.h required ?

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

diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 7f8265938..b95a81af0 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -213,9 +213,9 @@ Rot2 Pose2::bearing(const Pose2& point,
     OptionalJacobian<2, 3> H1, OptionalJacobian<2, 2> H2) const {
   Rot2 result = bearing(point.t(), H1, H2);
   if (H2) {
-    Matrix H2_ = *H2 * point.r().matrix();
+    Matrix2 H2_ = *H2 * point.r().matrix();
     *H2 = zeros(1, 3);
-    insertSub(*H2, H2_, 0, 0);
+    (*H2).block(0, 0, H2_.rows(), H2_.cols()) = H2_;
   }
   return result;
 }