From 5fa4abf99cb89c0c9af9dc198b49f5e936a4f6f4 Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Thu, 8 Dec 2016 15:19:18 -0500
Subject: [PATCH] fix optional jacobians

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

diff --git a/gtsam/base/VectorSpace.h b/gtsam/base/VectorSpace.h
index 5456ae7f5..43644b5c4 100644
--- a/gtsam/base/VectorSpace.h
+++ b/gtsam/base/VectorSpace.h
@@ -138,14 +138,14 @@ struct VectorSpaceImpl<Class,Eigen::Dynamic> {
   }
 
   static Class Compose(const Class& v1, const Class& v2, ChartJacobian H1,
-      ChartJacobian H2) {
+      ChartJacobian H2 = boost::none) {
     if (H1) *H1 = Eye(v1);
     if (H2) *H2 = Eye(v2);
     return v1 + v2;
   }
 
   static Class Between(const Class& v1, const Class& v2, ChartJacobian H1,
-      ChartJacobian H2) {
+      ChartJacobian H2 = boost::none) {
     if (H1) *H1 = - Eye(v1);
     if (H2) *H2 =   Eye(v2);
     return v2 - v1;