From aba22015099769afac1bca683b96f40e3e05af89 Mon Sep 17 00:00:00 2001
From: Paul Furgale <paul.furgale@gmail.com>
Date: Fri, 16 Jan 2015 15:43:42 +0100
Subject: [PATCH 1/3] Fix for the OSX/clang c++ narrowing error

---
 gtsam/base/Manifold.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h
index b07bd3575..ba26d267d 100644
--- a/gtsam/base/Manifold.h
+++ b/gtsam/base/Manifold.h
@@ -81,7 +81,7 @@ struct ManifoldImpl {
 
 /// Extra manifold traits for variable-dimension types
 template<class Class>
-struct ManifoldImpl<Class, Eigen::Dynamic> {
+    struct ManifoldImpl<Class, size_t(Eigen::Dynamic)> {
   // Run-time dimensionality
   static int GetDimension(const Class& m) {
     return m.dim();

From a30f7436a497fbcc5cab00cc609ce40b3bd612db Mon Sep 17 00:00:00 2001
From: Paul Furgale <paul.furgale@gmail.com>
Date: Mon, 19 Jan 2015 12:39:43 +0100
Subject: [PATCH 2/3] Addressing code review

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

diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h
index ba26d267d..1791ff131 100644
--- a/gtsam/base/Manifold.h
+++ b/gtsam/base/Manifold.h
@@ -71,7 +71,7 @@ struct HasManifoldPrereqs {
 };
 
 /// Extra manifold traits for fixed-dimension types
-template<class Class, size_t N>
+template<class Class, int N>
 struct ManifoldImpl {
   // Compile-time dimensionality
   static int GetDimension(const Class&) {
@@ -81,7 +81,7 @@ struct ManifoldImpl {
 
 /// Extra manifold traits for variable-dimension types
 template<class Class>
-    struct ManifoldImpl<Class, size_t(Eigen::Dynamic)> {
+    struct ManifoldImpl<Class, Eigen::Dynamic> {
   // Run-time dimensionality
   static int GetDimension(const Class& m) {
     return m.dim();

From ab23788d5fc99dae8a3f317dcb05b889d8e2571b Mon Sep 17 00:00:00 2001
From: Paul Furgale <paul.furgale@gmail.com>
Date: Mon, 19 Jan 2015 12:41:04 +0100
Subject: [PATCH 3/3] Formatting

---
 gtsam/base/Manifold.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h
index 1791ff131..6998b3b18 100644
--- a/gtsam/base/Manifold.h
+++ b/gtsam/base/Manifold.h
@@ -81,7 +81,7 @@ struct ManifoldImpl {
 
 /// Extra manifold traits for variable-dimension types
 template<class Class>
-    struct ManifoldImpl<Class, Eigen::Dynamic> {
+struct ManifoldImpl<Class, Eigen::Dynamic> {
   // Run-time dimensionality
   static int GetDimension(const Class& m) {
     return m.dim();