- introduced CallRecordMaxVirtualStaticRows for keeping CallRecord.h and testCallRecord.cpp in sync with respect to this.

- reactivated the fully dynamically sized matrix support in CallRecord.h
- small cleanups

gtsam_unstable/nonlinear/CallRecord.h

@@ -99,10 +99,12 @@ struct CallRecord {
         jacobians);
   }
 
-// TODO: remove once Hannes agrees this is never called as handled by above
-//  inline void reverseAD2(const Matrix & dFdT, JacobianMap& jacobians) const {
-//    _reverseAD3(dFdT, jacobians);
-//  }
+  // This overload supports matrices with both rows and columns dynamically sized.
+  // The template version above would be slower by introducing an extra conversion
+  // to statically sized columns.
+  inline void reverseAD2(const Matrix & dFdT, JacobianMap& jacobians) const {
+    _reverseAD3(dFdT, jacobians);
+  }
 
   virtual ~CallRecord() {
   }
@@ -131,6 +133,13 @@ private:
       JacobianMap& jacobians) const = 0;
 };
 
+/**
+ * CallRecordMaxVirtualStaticRows tells which separate virtual reverseAD with specific
+ * static rows (1..CallRecordMaxVirtualStaticRows) methods are part of the CallRecord 
+ * interface. It is used to keep the testCallRecord unit test in sync.
+ */
+const int CallRecordMaxVirtualStaticRows = 5;
+
 namespace internal {
 /**
  * The CallRecordImplementor implements the CallRecord interface for a Derived class by

gtsam_unstable/nonlinear/tests/testCallRecord.cpp

@@ -33,7 +33,7 @@ static const int Cols = 3;
 
 
 int dynamicIfAboveMax(int i){
-  if(i > 5){
+  if(i > CallRecordMaxVirtualStaticRows){
     return Eigen::Dynamic;
   }
   else return i;
@@ -43,7 +43,6 @@ struct CallConfig {
   int compTimeCols;
   int runTimeRows;
   int runTimeCols;
-  CallConfig() {}
   CallConfig(int rows, int cols):
     compTimeRows(dynamicIfAboveMax(rows)),
     compTimeCols(cols),
@@ -72,6 +71,7 @@ struct CallConfig {
 };
 
 struct Record: public internal::CallRecordImplementor<Record, Cols> {
+  Record() : cc(0, 0) {}
   virtual ~Record() {
   }
   void print(const std::string& indent) const {