From cbd6a2a01c1ba857b2570bf69936884dd9e5ded5 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Fri, 13 Aug 2021 19:36:15 -0400
Subject: [PATCH] now using MakeJacobian

---
 gtsam/base/Lie.h | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h
index c93456a28..1e19bfc0e 100644
--- a/gtsam/base/Lie.h
+++ b/gtsam/base/Lie.h
@@ -324,13 +324,12 @@ T expm(const Vector& x, int K=7) {
  */
 template <typename T>
 T interpolate(const T& X, const T& Y, double t,
-              OptionalJacobian< traits<T>::dimension, traits<T>::dimension > Hx = boost::none,
-              OptionalJacobian< traits<T>::dimension, traits<T>::dimension > Hy = boost::none) {
+              typename MakeOptionalJacobian<T, T>::type Hx = boost::none,
+              typename MakeOptionalJacobian<T, T>::type Hy = boost::none) {
   assert(t >= 0.0 && t <= 1.5);
   if (Hx || Hy) {
-    typedef Eigen::Matrix<double, traits<T>::dimension, traits<T>::dimension> Jacobian;
     typename traits<T>::TangentVector log_Xinv_Y;
-    Jacobian Hx_tmp, Hy_tmp, H1, H2;
+    typename MakeJacobian<T, T>::type Hx_tmp, Hy_tmp, H1, H2;
 
     T Xinv_Y = traits<T>::Between(X, Y, Hx_tmp, Hy_tmp);
     log_Xinv_Y = traits<T>::Logmap(Xinv_Y, H1);