From 752e8128956e914fe261b9ecdff12d8436fc4c33 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Fri, 4 Feb 2011 03:32:39 +0000
Subject: [PATCH] Fixed a bug in the expm function that assumed a fixed matrix
 size

---
 gtsam/base/Matrix.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index 0e19fbf8d..330338a49 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -996,7 +996,7 @@ Matrix inverse_square_root(const Matrix& A) {
 
 /* ************************************************************************* */
 Matrix expm(const Matrix& A, size_t K) {
-	Matrix E = eye(A.size1()), A_k = eye(4);
+	Matrix E = eye(A.size1()), A_k = eye(A.size1());
 	for(size_t k=1;k<=K;k++) {
 		A_k = A_k*A/k;
 		E = E + A_k;