From 807d63c7bfe6a5d59833b4b4740c2050c8f18863 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sun, 17 Apr 2022 16:49:52 -0400
Subject: [PATCH] Use templated Eigen::Ref wrapper

---
 gtsam/base/OptionalJacobian.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h
index a990ffc0e..c9a960a89 100644
--- a/gtsam/base/OptionalJacobian.h
+++ b/gtsam/base/OptionalJacobian.h
@@ -102,7 +102,8 @@ public:
    * @brief Constructor from an Eigen::Ref *value*. Will not usurp if dimension is wrong
    * @note This is important so we don't overwrite someone else's memory!
    */
-  OptionalJacobian(Eigen::Ref<Eigen::MatrixXd> dynamic_ref) :
+  template<class MATRIX>
+  OptionalJacobian(Eigen::Ref<MATRIX> dynamic_ref) :
       map_(nullptr) {
     if (dynamic_ref.rows() == Rows && dynamic_ref.cols() == Cols && !dynamic_ref.IsRowMajor) {
       usurp(dynamic_ref.data());