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release/4.3a0
dellaert 2014-10-09 00:21:10 +02:00
parent 9ebe1e6d10
commit a38a0ae9e1
1 changed files with 2 additions and 0 deletions
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2
gtsam_unstable/nonlinear/Expression-inl.h
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@ -115,6 +115,7 @@ struct JacobianTrace {
JacobianMap& jacobians) const = 0; JacobianMap& jacobians) const = 0;
}; };
/// Primary template calls the generic Matrix reverseAD pipeline
template<size_t M, class A> template<size_t M, class A>
struct Select { struct Select {
typedef Eigen::Matrix<double, M, A::dimension> Jacobian; typedef Eigen::Matrix<double, M, A::dimension> Jacobian;
@ -124,6 +125,7 @@ struct Select {
} }
}; };
/// Partially specialized template calls the 2-dimensional output version
template<class A> template<class A>
struct Select<2, A> { struct Select<2, A> {
typedef Eigen::Matrix<double, 2, A::dimension> Jacobian; typedef Eigen::Matrix<double, 2, A::dimension> Jacobian;