diff --git a/gtsam_unstable/nonlinear/Expression-inl.h b/gtsam_unstable/nonlinear/Expression-inl.h index a98ab349f..1a855aeb7 100644 --- a/gtsam_unstable/nonlinear/Expression-inl.h +++ b/gtsam_unstable/nonlinear/Expression-inl.h @@ -507,7 +507,7 @@ struct GenerateFunctionalNode: Argument, Base { void reverseAD(const Eigen::Matrix & dFdT, JacobianMap& jacobians) const { Base::Record::reverseAD(dFdT, jacobians); - This::trace.reverseAD(dFdT * This::dTdA, jacobians); + This::trace.reverseAD((dFdT * This::dTdA).eval(), jacobians); } };