functor.h

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#ifndef EIGEN_AUTODIFF_FUNCTOR_H_
#define EIGEN_AUTODIFF_FUNCTOR_H_

#include <Eigen/Dense>

namespace exotica
{
template <typename Scalar, int CompileTimeInputSize, int CompileTimeValueSize, int CompileTimeJacobianCols>
struct FunctorBase
{
    typedef Eigen::Matrix<Scalar, CompileTimeInputSize, 1> InputType;
    typedef Eigen::Matrix<Scalar, CompileTimeValueSize, 1> ValueType;
    enum
    {
        JacobianColsAtCompileTime = CompileTimeJacobianCols
    };
    FunctorBase() = default;
};

typedef FunctorBase<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic> Functor;
}  // namespace exotica

#endif  // EIGEN_AUTODIFF_FUNCTOR_H_