From 85032364f124f8b3aa3817b724a86c9d8b08e176 Mon Sep 17 00:00:00 2001
From: nsrinivasan7 <natesh.rvce@gmail.com>
Date: Sat, 29 Nov 2014 19:36:43 -0500
Subject: [PATCH] as @cbeall3 pointed out, Matrix(3,3) is still a dynamic
 Matrix. so changed this to Matrix3

---
 gtsam/geometry/Pose2.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index fc09ed0cf..7f8265938 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -110,11 +110,12 @@ Vector Pose2::localCoordinates(const Pose2& p2) const {
 // Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi)
 Matrix3 Pose2::AdjointMap() const {
   double c = r_.c(), s = r_.s(), x = t_.x(), y = t_.y();
-  return (Matrix(3,3) <<
+  Matrix3 rvalue;
+  rvalue <<
       c,  -s,   y,
       s,   c,  -x,
-      0.0, 0.0, 1.0
-  ).finished();
+      0.0, 0.0, 1.0;
+  return rvalue;
 }
 
 /* ************************************************************************* */