From 9755b95e8999af96fe248eb16126655ef8c425de Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Sat, 4 Apr 2015 17:13:58 -0400
Subject: [PATCH] looking at fix Values of FixedInsertDynamicRead

---
 gtsam/nonlinear/Values-inl.h         |  6 +++++-
 gtsam/nonlinear/tests/testValues.cpp | 30 +++++++++++++++++++++++++---
 2 files changed, 32 insertions(+), 4 deletions(-)

diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h
index 96c352833..8a905a0ac 100644
--- a/gtsam/nonlinear/Values-inl.h
+++ b/gtsam/nonlinear/Values-inl.h
@@ -281,7 +281,7 @@ namespace gtsam {
         }
       }
     };
-
+/*
     // Handle dynamic matrices
     template<int N>
     struct handle<Eigen::Matrix<double, -1, N> > {
@@ -296,6 +296,8 @@ namespace gtsam {
       }
     };
 
+    */
+
     // Request for a fixed vector
     template<int M>
     struct handle<Eigen::Matrix<double, M, 1> > {
@@ -329,6 +331,8 @@ namespace gtsam {
         }
       }
     };
+
+
     } // internal
 
    /* ************************************************************************* */
diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
index ea5c67d9f..ecc01c95b 100644
--- a/gtsam/nonlinear/tests/testValues.cpp
+++ b/gtsam/nonlinear/tests/testValues.cpp
@@ -476,16 +476,40 @@ TEST(Values, Destructors) {
 }
 
 /* ************************************************************************* */
-TEST(Values, FixedVector) {
+TEST(Values, VectorDynamicInsertFixedRead) {
   Values values;
   Vector v(3); v << 5.0, 6.0, 7.0;
   values.insert(key1, v);
   Vector3 expected(5.0, 6.0, 7.0);
-  CHECK(assert_equal((Vector)expected, values.at<Vector3>(key1)));
+  Vector3 actual = values.at<Vector3>(key1);
+  CHECK(assert_equal(expected, actual));
   CHECK_EXCEPTION(values.at<Vector7>(key1), exception);
 }
+
 /* ************************************************************************* */
-TEST(Values, FixedMatrix) {
+TEST(Values, VectorFixedInsertDynamicRead) {
+  Values values;
+  Vector3 v; v << 5.0, 6.0, 7.0;
+  values.insert(key1, v);
+  Vector expected(3); expected << 5.0, 6.0, 7.0;
+  Vector actual(3); actual = values.at<Vector>(key1);
+  //CHECK(assert_equal(expected, actual));
+  CHECK_EXCEPTION(values.at<Vector7>(key1), exception);
+}
+
+/* ************************************************************************* */
+TEST(Values, VectorFixedInsertFixedRead) {
+  Values values;
+  Vector3 v; v << 5.0, 6.0, 7.0;
+  values.insert(key1, v);
+  Vector3 expected; expected << 5.0, 6.0, 7.0;
+  Vector3 actual = values.at<Vector3>(key1);
+  //CHECK(assert_equal(expected, actual));
+  CHECK_EXCEPTION(values.at<Vector7>(key1), exception);
+}
+
+/* ************************************************************************* */
+TEST(Values, MatrixDynamicInsertFixedRead) {
   Values values;
   Matrix v(1,3); v << 5.0, 6.0, 7.0;
   values.insert(key1, v);