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Expressions now require OptionalJacobian

release/4.3a0
dellaert 2014-12-04 21:08:15 +01:00
parent 96016edf85
commit 4fd2a288a2
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
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@ -131,14 +131,14 @@ TEST(ExpressionFactor, Unary) {
// Unary(Leaf)) and Unary(Unary(Leaf)))
// wide version (not handled in fixed-size pipeline)
typedef Eigen::Matrix<double,9,3> Matrix93;
Vector9 wide(const Point3& p, boost::optional<Matrix93&> H) {
Vector9 wide(const Point3& p, OptionalJacobian<9,3> H) {
Vector9 v;
v << p.vector(), p.vector(), p.vector();
if (H) *H << eye(3), eye(3), eye(3);
return v;
}
typedef Eigen::Matrix<double,9,9> Matrix9;
Vector9 id9(const Vector9& v, boost::optional<Matrix9&> H) {
Vector9 id9(const Vector9& v, OptionalJacobian<9,9> H) {
if (H) *H = Matrix9::Identity();
return v;
}