get dimension of prior factor with traits

2014-12-01 12:10:45 -05:00 · 2014-12-01 12:10:45 -05:00 · c472c86730
parent 1f171cf1a1
commit c472c86730
1 changed files with 1 additions and 1 deletions
--- a/gtsam/slam/PriorFactor.h
+++ b/gtsam/slam/PriorFactor.h
@ -81,7 +81,7 @@ namespace gtsam {

    /** vector of errors */
    Vector evaluateError(const T& p, boost::optional<Matrix&> H = boost::none) const {
-      if (H) (*H) = eye(p.dim());
+      if (H) (*H) = eye(traits::dimension<T>());
      // manifold equivalent of h(x)-z -> log(z,h(x))
      DefaultChart<T> chart;
      return chart.local(prior_,p);