From 5bcb880759b1177e5c00ccef8d9488386e564dd0 Mon Sep 17 00:00:00 2001
From: Andrew Melim <Andrew.Melim@gatech.edu>
Date: Tue, 2 Dec 2014 18:51:37 -0500
Subject: [PATCH] Issue #151

---
 gtsam/nonlinear/Expression-inl.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h
index 332c23ca7..1655057ca 100644
--- a/gtsam/nonlinear/Expression-inl.h
+++ b/gtsam/nonlinear/Expression-inl.h
@@ -560,8 +560,8 @@ struct GenerateFunctionalNode: Argument<T, A, Base::N + 1>, Base {
 
     /// Given df/dT, multiply in dT/dA and continue reverse AD process
     // Cols is always known at compile time
-    template<int Rows, int Cols>
-    void reverseAD4(const Eigen::Matrix<double, Rows, Cols> & dFdT,
+    template<typename SomeMatrix>
+    void reverseAD4(const SomeMatrix & dFdT,
         JacobianMap& jacobians) const {
       Base::Record::reverseAD4(dFdT, jacobians);
       This::trace.reverseAD1(dFdT * This::dTdA, jacobians);