diff --git a/gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp b/gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp index 1107d1e30..5758509eb 100644 --- a/gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp +++ b/gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp @@ -131,14 +131,14 @@ TEST(ExpressionFactor, Unary) { // Unary(Leaf)) and Unary(Unary(Leaf))) // wide version (not handled in fixed-size pipeline) typedef Eigen::Matrix Matrix93; -Vector9 wide(const Point3& p, boost::optional 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 Matrix9; -Vector9 id9(const Vector9& v, boost::optional H) { +Vector9 id9(const Vector9& v, OptionalJacobian<9,9> H) { if (H) *H = Matrix9::Identity(); return v; }