From 6f071928bc5aefe84db80b2d9dae3caea732b97c Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 4 May 2019 17:18:31 -0400
Subject: [PATCH] Allow dynamic dimension Lie groups

---
 gtsam/base/Lie.h | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h
index bb49a84d6..641597044 100644
--- a/gtsam/base/Lie.h
+++ b/gtsam/base/Lie.h
@@ -35,9 +35,6 @@ namespace gtsam {
 template <class Class, int N>
 struct LieGroup {
 
-  BOOST_STATIC_ASSERT_MSG(N != Eigen::Dynamic,
-      "LieGroup not yet specialized for dynamically sized types.");
-
   enum { dimension = N };
   typedef OptionalJacobian<N, N> ChartJacobian;
   typedef Eigen::Matrix<double, N, N> Jacobian;
@@ -190,9 +187,6 @@ struct LieGroupTraits {
   typedef Eigen::Matrix<double, dimension, 1> TangentVector;
   typedef OptionalJacobian<dimension, dimension> ChartJacobian;
 
-  BOOST_STATIC_ASSERT_MSG(dimension != Eigen::Dynamic,
-      "LieGroupTraits not yet specialized for dynamically sized types.");
-
   static int GetDimension(const Class&) {return dimension;}
 
   static TangentVector Local(const Class& origin, const Class& other,