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Windows template specialization fix

release/4.3a0
Chris Beall 2014-11-23 15:29:14 -05:00
parent ecc763d9f0
commit f96e079fbd
1 changed files with 3 additions and 3 deletions
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6
gtsam/base/Manifold.h
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@ -242,13 +242,13 @@ struct DefaultChart<double> {
// Fixed size Eigen::Matrix type
template<int M, int N, int Options>
struct DefaultChart<Eigen::Matrix<double, M, N, Options> > {
template<int M, int N, int Options, int MaxRows, int MaxCols>
struct DefaultChart<Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > {
/**
* This chart for the vector space of M x N matrices (represented by Eigen matrices) chooses as basis the one with respect to which the coordinates are exactly the matrix entries as laid out in memory (as determined by Options).
* Computing coordinates for a matrix is then simply a reshape to the row vector of appropriate size.
*/
typedef Eigen::Matrix<double, M, N, Options> type;
typedef Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> type;
typedef type T;
typedef Eigen::Matrix<double, traits::dimension<T>::value, 1> vector;BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic),
"DefaultChart has not been implemented yet for dynamically sized matrices");