stuck since LieMatrix uses dynamic matrices and hence not compatible with traits

gtsam/base/LieScalar.h

@@ -38,7 +38,7 @@ namespace gtsam {
     LieScalar() : d_(0.0) {}
 
     /** wrap a double */
-    explicit LieScalar(double d) : d_(d) {}
+    /*explicit*/ LieScalar(double d) : d_(d) {}
 
     /** access the underlying value */
     double value() const { return d_; }

gtsam/base/LieVector.cpp

@@ -35,4 +35,5 @@ void LieVector::print(const std::string& name) const {
   gtsam::print(vector(), name);
 }
 
+GTSAM_CONCEPT_LIE_INST(LieVector)
 } // \namespace gtsam

gtsam/base/OptionalJacobian.h

@@ -112,8 +112,11 @@ public:
   Eigen::Map<Fixed>* operator->(){ return &map_; }
 };
 
-template<>
-class OptionalJacobian<-1, -1> {};
+// these make sure that no dynamic sized matrices are compiled.
+template<int Cols>
+class OptionalJacobian<-1, Cols> {};
+template<int Rows>
+class OptionalJacobian<Rows, -1> {};
 
 } // namespace gtsam
 

gtsam/base/concepts.h

@@ -67,9 +67,10 @@ namespace internal {
 /// A helper that implements the traits interface for GTSAM manifolds.
 /// To use this for your gtsam type, define:
 /// template<> struct traits<Type> : public Manifold<Type> { };
-template<typename ManifoldType>
+template<typename _ManifoldType>
 struct Manifold {
   // Typedefs required by all manifold types.
+  typedef _ManifoldType ManifoldType;
   typedef manifold_tag structure_category;
   enum { dimension = ManifoldType::dimension };
   typedef Eigen::Matrix<double, dimension, 1> TangentVector;
@@ -117,9 +118,10 @@ struct Manifold {
 /// A helper that implements the traits interface for GTSAM lie groups.
 /// To use this for your gtsam type, define:
 /// template<> struct traits<Type> : public LieGroup<Type> { };
-template<typename ManifoldType,typename _group_flavor = additive_group_tag>
+template<typename _ManifoldType,typename _group_flavor = additive_group_tag>
 struct LieGroup {
   // Typedefs required by all manifold types.
+  typedef _ManifoldType ManifoldType;
   typedef lie_group_tag structure_category;
   typedef _group_flavor group_flavor;