From 676f93ebd88b4d62ab71434b2fd8d75139434d98 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 May 2019 17:18:16 -0400 Subject: [PATCH] Add pointer constructor for dynamic case --- gtsam/base/OptionalJacobian.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h index 166297d5f..82a5ae7f4 100644 --- a/gtsam/base/OptionalJacobian.h +++ b/gtsam/base/OptionalJacobian.h @@ -176,10 +176,11 @@ public: pointer_(NULL) { } - /// Constructor that will resize a dynamic matrix (unless already correct) - OptionalJacobian(Eigen::MatrixXd& dynamic) : - pointer_(&dynamic) { - } + /// Construct from pointer to dynamic matrix + OptionalJacobian(Jacobian* pointer) : pointer_(pointer) {} + + /// Construct from refrence to dynamic matrix + OptionalJacobian(Jacobian& dynamic) : pointer_(&dynamic) {} #ifndef OPTIONALJACOBIAN_NOBOOST