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Use templated Eigen::Ref wrapper

release/4.3a0
Fan Jiang 2022-04-17 16:49:52 -04:00
parent 923c57e68b
commit 807d63c7bf
1 changed files with 2 additions and 1 deletions
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3
gtsam/base/OptionalJacobian.h
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@ -102,7 +102,8 @@ public:
* @brief Constructor from an Eigen::Ref *value*. Will not usurp if dimension is wrong * @brief Constructor from an Eigen::Ref *value*. Will not usurp if dimension is wrong
* @note This is important so we don't overwrite someone else's memory! * @note This is important so we don't overwrite someone else's memory!
*/ */
OptionalJacobian(Eigen::Ref<Eigen::MatrixXd> dynamic_ref) : template<class MATRIX>
OptionalJacobian(Eigen::Ref<MATRIX> dynamic_ref) :
map_(nullptr) { map_(nullptr) {
if (dynamic_ref.rows() == Rows && dynamic_ref.cols() == Cols && !dynamic_ref.IsRowMajor) { if (dynamic_ref.rows() == Rows && dynamic_ref.cols() == Cols && !dynamic_ref.IsRowMajor) {
usurp(dynamic_ref.data()); usurp(dynamic_ref.data());