From 6ea60745eb48d41a8f8c5eab9616584d9871a92c Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Mon, 22 Dec 2014 13:13:57 +0100
Subject: [PATCH] Fixed incorrect template argument leading to test failure

---
 gtsam/slam/tests/testEssentialMatrixConstraint.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/tests/testEssentialMatrixConstraint.cpp b/gtsam/slam/tests/testEssentialMatrixConstraint.cpp
index 831aad765..31b276642 100644
--- a/gtsam/slam/tests/testEssentialMatrixConstraint.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixConstraint.cpp
@@ -50,10 +50,10 @@ TEST( EssentialMatrixConstraint, test ) {
   CHECK(assert_equal(expected, actual, 1e-8));
 
   // Calculate numerical derivatives
-  Matrix expectedH1 = numericalDerivative11<Vector3,Pose3>(
+  Matrix expectedH1 = numericalDerivative11<Vector5,Pose3>(
       boost::bind(&EssentialMatrixConstraint::evaluateError, &factor, _1, pose2,
           boost::none, boost::none), pose1);
-  Matrix expectedH2 = numericalDerivative11<Vector3,Pose3>(
+  Matrix expectedH2 = numericalDerivative11<Vector5,Pose3>(
       boost::bind(&EssentialMatrixConstraint::evaluateError, &factor, pose1, _1,
           boost::none, boost::none), pose2);